F3 and F7 updates to remove DSHOT interrupt.

src/main/drivers/dma.c

@@ -105,3 +105,13 @@ dmaIdentifier_e dmaGetIdentifier(const DMA_Channel_TypeDef* channel)
     }
     return 0;
 }
+
+dmaChannelDescriptor_t* getDmaDescriptor(const DMA_Channel_TypeDef* channel)
+{
+    for (int i = 0; i < DMA_MAX_DESCRIPTORS; i++) {
+        if (dmaDescriptors[i].channel == channel) {
+            return &dmaDescriptors[i];
+        }
+    }
+    return NULL;
+}

src/main/drivers/dma.h

@@ -128,7 +128,7 @@ typedef enum {
 #define DMA_IT_TEIF         ((uint32_t)0x00000008)
 
 dmaIdentifier_e dmaGetIdentifier(const DMA_Channel_TypeDef* channel);
-
+dmaChannelDescriptor_t* getDmaDescriptor(const DMA_Channel_TypeDef* channel);
 #endif
 
 void dmaInit(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex);

src/main/drivers/pwm_output.h

@@ -20,6 +20,7 @@
 #include "io/motors.h"
 #include "io/servos.h"
 #include "drivers/timer.h"
+#include "drivers/dma.h"
 
 typedef enum {
     PWM_TYPE_STANDARD = 0,
@@ -86,7 +87,11 @@ typedef struct {
 #else
     uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
 #endif
+#ifdef STM32F3
+    dmaChannelDescriptor_t* dmaDescriptor;
+#else
     uint32_t dmaFlag;
+#endif
 #if defined(STM32F7)
     TIM_HandleTypeDef TimHandle;
     DMA_HandleTypeDef hdma_tim;

src/main/drivers/pwm_output_stm32f3xx.c

@@ -84,7 +84,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
         packet <<= 1;
     }
 
+    TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
     DMA_SetCurrDataCounter(motor->timerHardware->dmaChannel, MOTOR_DMA_BUFFER_SIZE);
+    DMA_CLEAR_FLAG(motor->dmaDescriptor, DMA_IT_TCIF);
     DMA_Cmd(motor->timerHardware->dmaChannel, ENABLE);
 }
 
@@ -102,16 +104,6 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
     }
 }
 
-static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
-{
-    if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
-        motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
-        DMA_Cmd(descriptor->channel, DISABLE);
-        TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
-        DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
-    }
-}
-
 void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
 {
     TIM_OCInitTypeDef TIM_OCInitStructure;
@@ -178,7 +170,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     }
 
     dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
-    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
+    motor->dmaDescriptor = getDmaDescriptor(channel);
 
     DMA_Cmd(channel, DISABLE);
     DMA_DeInit(channel);
@@ -196,8 +188,6 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
 
     DMA_Init(channel, &DMA_InitStructure);
-
-    DMA_ITConfig(channel, DMA_IT_TC, ENABLE);
 }
 
 #endif

src/main/drivers/pwm_output_stm32f4xx.c

@@ -192,8 +192,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
 
     DMA_Init(stream, &DMA_InitStructure);
 
-    motor->dmaFlag = dmaFlag_IT_TCIF(timerHardware->dmaStream);
+    motor->dmaFlag = dmaFlag_IT_TCIF(stream);
-    DMA_ClearITPendingBit(stream, motor->dmaFlag);
 }
 
 #endif

src/main/drivers/pwm_output_stm32f7xx.c

@@ -52,7 +52,6 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
 
 void pwmWriteDigital(uint8_t index, uint16_t value)
 {
-
     if (!pwmMotorsEnabled) {
         return;
     }
@@ -82,6 +81,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
         packet <<= 1;
     }
 
+    /* may not be required */
+    HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
+
     if(HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, MOTOR_DMA_BUFFER_SIZE) != HAL_OK)
     {
       /* Starting PWM generation Error */
@@ -92,34 +94,8 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
 {
     UNUSED(motorCount);
-
-    if (!pwmMotorsEnabled) {
-        return;
-    }
-
-    for (uint8_t i = 0; i < dmaMotorTimerCount; i++) {
-        //TIM_SetCounter(dmaMotorTimers[i].timer, 0);
-        //TIM_DMACmd(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources, ENABLE);
-    }
 }
 
-
-static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
-{
-    motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
-    HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
-}
-
-/*static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
-{
-    if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
-        motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
-        DMA_Cmd(descriptor->stream, DISABLE);
-        TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
-        DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
-    }
-}*/
-
 void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
 {
     motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
@@ -186,7 +162,6 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     __HAL_LINKDMA(&motor->TimHandle, hdma[motor->timerDmaSource], motor->hdma_tim);
 
     dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
-    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
 
     /* Initialize TIMx DMA handle */
     if(HAL_DMA_Init(motor->TimHandle.hdma[motor->timerDmaSource]) != HAL_OK)