Revert DSHOT Interrupt

src/main/drivers/dma.c

@@ -105,13 +105,3 @@ 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].ref == channel) {
-            return &dmaDescriptors[i];
-        }
-    }
-    return NULL;
-}

src/main/drivers/dma.h

@@ -129,7 +129,7 @@ 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

@@ -17,7 +17,6 @@
 
 #pragma once
 
-#include "dma.h"
 #include "io_types.h"
 #include "timer.h"
 
@@ -94,7 +93,6 @@ typedef struct {
 #else
     uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
 #endif
-    dmaChannelDescriptor_t* dmaDescriptor;
 #if defined(STM32F7)
     TIM_HandleTypeDef TimHandle;
     DMA_HandleTypeDef hdma_tim;

src/main/drivers/pwm_output_dshot.c

@@ -85,10 +85,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
         packet <<= 1;
     }
 
-    DMA_Cmd(motor->timerHardware->dmaRef, DISABLE);
-    TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
     DMA_SetCurrDataCounter(motor->timerHardware->dmaRef, MOTOR_DMA_BUFFER_SIZE);
-    DMA_CLEAR_FLAG(motor->dmaDescriptor, DMA_IT_TCIF);
     DMA_Cmd(motor->timerHardware->dmaRef, ENABLE);
 }
 
@@ -106,6 +103,16 @@ 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(motor->timerHardware->dmaRef, 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, uint8_t output)
 {
     TIM_OCInitTypeDef TIM_OCInitStructure;
@@ -177,10 +184,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     }
 
     dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
-    motor->dmaDescriptor = getDmaDescriptor(dmaRef);
+    dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
-
-    DMA_Cmd(dmaRef, DISABLE);
-    DMA_DeInit(dmaRef);
 
     DMA_StructInit(&DMA_InitStructure);
 #if defined(STM32F3)
@@ -206,6 +210,7 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
     DMA_InitStructure.DMA_Priority = DMA_Priority_High;
 
     DMA_Init(dmaRef, &DMA_InitStructure);
+    DMA_ITConfig(dmaRef, DMA_IT_TC, ENABLE);
 }
 
 #endif

src/main/drivers/pwm_output_stm32f7xx.c

@@ -81,9 +81,6 @@ 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 */
@@ -94,8 +91,33 @@ 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, uint8_t output)
 {
     motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
@@ -162,6 +184,7 @@ 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)