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Refactoring motor to simplify implementation on other platforms (#14156)
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Jay Blackman
GitHub
parent
7ed1b4b71f
commit
c2768d0409
62 changed files with 975 additions and 810 deletions
287
src/platform/common/stm32/dshot_bitbang_impl.h
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src/platform/common/stm32/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 "platform.h"
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#include "common/time.h"
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#include "drivers/timer.h"
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#include "drivers/motor_types.h"
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#include "drivers/dshot.h"
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#include "pg/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_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_BIT_HOLD_STATES 3 // 3 extra states at the end of transmission required to allow ESC to sample the last bit correctly.
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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_BUF_LENGTH (((MOTOR_DSHOT_FRAME_BITS / MOTOR_DSHOT_BIT_PER_SYMBOL) * MOTOR_DSHOT_STATE_PER_SYMBOL) + MOTOR_DSHOT_BIT_HOLD_STATES)
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#ifdef USE_DSHOT_CACHE_MGMT
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// MOTOR_DSHOT_BUF_LENGTH is multiples of uint32_t
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// Number of bytes required for buffer
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#define MOTOR_DSHOT_BUF_BYTES (MOTOR_DSHOT_BUF_LENGTH * sizeof(uint32_t))
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// Number of bytes required to cache align buffer
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#define MOTOR_DSHOT_BUF_CACHE_ALIGN_BYTES ((MOTOR_DSHOT_BUF_BYTES + 0x20) & ~0x1f)
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// Size of array to create a cache aligned buffer
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#define MOTOR_DSHOT_BUF_CACHE_ALIGN_LENGTH (MOTOR_DSHOT_BUF_CACHE_ALIGN_BYTES / sizeof(uint32_t))
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#else
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#define MOTOR_DSHOT_BUF_CACHE_ALIGN_LENGTH MOTOR_DSHOT_BUF_LENGTH
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#endif
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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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#elif defined(AT32F435)
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#define BB_GPIO_PULLDOWN GPIO_PULL_DOWN
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#define BB_GPIO_PULLUP GPIO_PULL_UP
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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) || defined(STM32H7)
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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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#elif defined(STM32G4) || defined(AT32F435)
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uint32_t CCR;
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uint32_t CNDTR;
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uint32_t CPAR;
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uint32_t CMAR;
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#elif defined(APM32F4)
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uint32_t SCFG;
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uint32_t FCTRL;
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uint32_t NDATA;
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uint32_t PADDR;
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uint32_t M0ADDR;
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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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#ifdef AT32F435
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typedef struct tmr_base_init_s {
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uint32_t TIM_Prescaler;
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uint32_t TIM_ClockDivision;
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uint32_t TIM_CounterMode;
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uint32_t TIM_Period;
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} tmr_base_init_type;
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#endif
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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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#elif defined(AT32F435)
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tmr_base_init_type 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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volatile bool telemetryPending;
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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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resourceOwner_t owner;
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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_DATA_ZERO_INIT bbPacer_t bbPacers[MAX_MOTOR_PACERS]; // TIM1 or TIM8
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extern FAST_DATA_ZERO_INIT int usedMotorPacers;
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extern FAST_DATA_ZERO_INIT bbPort_t bbPorts[MAX_SUPPORTED_MOTOR_PORTS];
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extern FAST_DATA_ZERO_INIT int usedMotorPorts;
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extern FAST_DATA_ZERO_INIT bbMotor_t bbMotors[MAX_SUPPORTED_MOTORS];
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extern uint8_t bbPuPdMode;
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extern dshotBitbangStatus_e bbStatus;
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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_BUF_CACHE_ALIGN_LENGTH * MAX_SUPPORTED_MOTOR_PORTS];
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// DMA input buffer
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// (30us + <frame time> + <slack>) / <input sampling clock period>
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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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// In some cases this was not enough, so we add 6 extra samples
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#define DSHOT_BB_PORT_IP_BUF_LENGTH 140
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#ifdef USE_DSHOT_CACHE_MGMT
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// Each sample is a uint16_t
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// Number of bytes required for buffer
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#define DSHOT_BB_PORT_IP_BUF_BYTES (DSHOT_BB_PORT_IP_BUF_LENGTH * sizeof(uint16_t))
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// Number of bytes required to cache align buffer
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#define DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_BYTES ((DSHOT_BB_PORT_IP_BUF_BYTES + 0x20) & ~0x1f)
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// Size of array to create a cache aligned buffer
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#define DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_LENGTH (DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_BYTES / sizeof(uint16_t))
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#else
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#define DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_LENGTH DSHOT_BB_PORT_IP_BUF_LENGTH
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#endif
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extern uint16_t bbInputBuffer[DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_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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#ifdef AT32F435
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void bbTIM_DMACmd(TIM_TypeDef* TIMx, uint16_t TIM_DMASource, confirm_state NewState);
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#else
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void bbTIM_DMACmd(TIM_TypeDef* TIMx, uint16_t TIM_DMASource, FunctionalState NewState);
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#endif
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void bbDMA_ITConfig(bbPort_t *bbPort);
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#ifdef AT32F435
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void bbDMA_Cmd(bbPort_t *bbPort, confirm_state NewState);
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#else
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void bbDMA_Cmd(bbPort_t *bbPort, FunctionalState NewState);
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#endif
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int bbDMA_Count(bbPort_t *bbPort);
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void bbDshotRequestTelemetry(unsigned motorIndex);
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bool bbDshotIsMotorIdle(unsigned motorIndex);
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