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Merge pull request #9502 from jflyper/bfdev-g4-dshot-ll

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[G4] Dshot support (LL)
This commit is contained in:
Michael Keller 2020-02-22 22:14:55 +13:00 • committed by GitHub
commit c29d174aeb
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2 changed files with 108 additions and 2 deletions
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10
src/main/drivers/pwm_output_dshot_hal.c
View file

@ -334,13 +334,15 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
#if defined(STM32H7)
#if defined(STM32H7) || defined(STM32G4)
DMAINIT.PeriphRequest = dmaChannel;
#else
DMAINIT.Channel = dmaChannel;
#endif
DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->timer->dmaBurstBuffer;
#ifndef STM32G4
DMAINIT.FIFOThreshold = LL_DMA_FIFOTHRESHOLD_FULL;
#endif
DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)&timerHardware->tim->DMAR;
} else
#endif
@ -349,20 +351,24 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
#if defined(STM32H7)
#if defined(STM32H7) || defined(STM32G4)
DMAINIT.PeriphRequest = dmaChannel;
#else
DMAINIT.Channel = dmaChannel;
#endif
DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->dmaBuffer;
#ifndef STM32G4
DMAINIT.FIFOThreshold = LL_DMA_FIFOTHRESHOLD_1_4;
#endif
DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)timerChCCR(timerHardware);
}
DMAINIT.Direction = LL_DMA_DIRECTION_MEMORY_TO_PERIPH;
#ifndef STM32G4
DMAINIT.FIFOMode = LL_DMA_FIFOMODE_ENABLE;
DMAINIT.MemBurst = LL_DMA_MBURST_SINGLE;
DMAINIT.PeriphBurst = LL_DMA_PBURST_SINGLE;
#endif
DMAINIT.NbData = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? PROSHOT_DMA_BUFFER_SIZE : DSHOT_DMA_BUFFER_SIZE;
DMAINIT.PeriphOrM2MSrcIncMode = LL_DMA_PERIPH_NOINCREMENT;
DMAINIT.MemoryOrM2MDstIncMode = LL_DMA_MEMORY_INCREMENT;

100
src/main/drivers/stm32g4xx_ll_ex.h Normal file
View file

@ -0,0 +1,100 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "stm32g4xx.h"
#include "common/utils.h"
#define DMA_CHANNEL_MASK 0xFFU
// As specified in RM0440 Rev 1 "11.6 DMA registers"
#define DMA_FIRST_CHANNEL_OFFSET 0x08U
#define DMA_CHANNEL_SIZE 0x14U
__STATIC_INLINE DMA_TypeDef *LL_EX_DMA_Channel_to_DMA(DMA_Channel_TypeDef *DMAx_Channely)
{
// clear channel address
return (DMA_TypeDef *) (((uint32_t) DMAx_Channely) & ((uint32_t) ~DMA_CHANNEL_MASK));
}
__STATIC_INLINE uint32_t LL_EX_DMA_Channel_to_Channel(DMA_Channel_TypeDef *DMAx_Channely)
{
return (((uint32_t) DMAx_Channely & DMA_CHANNEL_MASK) - DMA_FIRST_CHANNEL_OFFSET) / DMA_CHANNEL_SIZE + 1;
}
#undef DMA_CHANNEL_MASK
#undef DMA_FIRST_CHANNEL_OFFSET
#undef DMA_CHANNEL_SIZE
__STATIC_INLINE uint32_t LL_EX_DMA_Init(DMA_Channel_TypeDef *DMAx_Channely, LL_DMA_InitTypeDef *DMA_InitStruct) {
DMA_TypeDef *DMA = LL_EX_DMA_Channel_to_DMA(DMAx_Channely);
const uint32_t Channel = LL_EX_DMA_Channel_to_Channel(DMAx_Channely);
return LL_DMA_Init(DMA, Channel, DMA_InitStruct);
}
__STATIC_INLINE uint32_t LL_EX_DMA_DeInit(DMA_Channel_TypeDef *DMAx_Channely) {
DMA_TypeDef *DMA = LL_EX_DMA_Channel_to_DMA(DMAx_Channely);
const uint32_t Channel = LL_EX_DMA_Channel_to_Channel(DMAx_Channely);
return LL_DMA_DeInit(DMA, Channel);
}
__STATIC_INLINE void LL_EX_DMA_EnableResource(DMA_Channel_TypeDef *DMAx_Channely)
{
SET_BIT(DMAx_Channely->CCR, DMA_CCR_EN);
}
__STATIC_INLINE void LL_EX_DMA_DisableResource(DMA_Channel_TypeDef *DMAx_Channely)
{
CLEAR_BIT(DMAx_Channely->CCR, DMA_CCR_EN);
}
__STATIC_INLINE void LL_EX_DMA_EnableIT_TC(DMA_Channel_TypeDef *DMAx_Channely)
{
SET_BIT(DMAx_Channely->CCR, DMA_CCR_TCIE);
}
__STATIC_INLINE void LL_EX_DMA_SetDataLength(DMA_Channel_TypeDef* DMAx_Channely, uint32_t NbData)
{
MODIFY_REG(DMAx_Channely->CNDTR, DMA_CNDTR_NDT, NbData);
}
__STATIC_INLINE uint32_t LL_EX_DMA_GetDataLength(DMA_Channel_TypeDef* DMAx_Channely)
{
return READ_BIT(DMAx_Channely->CNDTR, DMA_CNDTR_NDT);
}
__STATIC_INLINE void LL_EX_TIM_EnableIT(TIM_TypeDef *TIMx, uint32_t Sources)
{
SET_BIT(TIMx->DIER, Sources);
}
__STATIC_INLINE void LL_EX_TIM_DisableIT(TIM_TypeDef *TIMx, uint32_t Sources)
{
CLEAR_BIT(TIMx->DIER, Sources);
}
__STATIC_INLINE void LL_EX_TIM_CC_EnableNChannel(TIM_TypeDef *TIMx, uint32_t Channel)
{
LL_TIM_CC_EnableChannel(TIMx, 4 * Channel);
}