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Code Issues Wiki Activity

F7 Dshot hack

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This commit is contained in:
Sami Korhonen 2017-09-17 13:06:34 +03:00
parent b67dcdbeb2
commit fa6112e1b8
7 changed files with 260 additions and 111 deletions
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47
src/main/drivers/pwm_output_dshot_hal.c
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@ -61,33 +61,29 @@ void pwmWriteDshotInt(uint8_t index, uint16_t value)
uint8_t bufferSize = loadDmaBuffer(motor, packet);
if (motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
if (HAL_TIMEx_PWMN_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, bufferSize) != HAL_OK) {
/* Starting PWM generation Error */
return;
}
} else {
if (HAL_TIM_PWM_Start_DMA(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, bufferSize) != HAL_OK) {
/* Starting PWM generation Error */
return;
}
if (DMA_SetCurrDataCounter(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, bufferSize) != HAL_OK) {
/* DMA set error */
return;
}
}
void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
for (int i = 0; i < dmaMotorTimerCount; i++) {
/* Reset timer counter */
LL_TIM_SetCounter(dmaMotorTimers[i].timer, 0);
/* Enable channel DMA requests */
dmaMotorTimers[i].timer->DIER |= dmaMotorTimers[i].timerDmaSources;
}
}
static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
{
motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaSource]);
if (motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
HAL_TIMEx_PWMN_Stop_DMA(&motor->TimHandle,motor->timerHardware->channel);
} else {
HAL_TIM_PWM_Stop_DMA(&motor->TimHandle,motor->timerHardware->channel);
}
HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaIndex]);
__HAL_DMA_DISABLE(&motor->hdma_tim);
TIM_DMACmd(&motor->TimHandle, motor->timerHardware->channel, DISABLE);
}
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
@ -119,9 +115,9 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
return;
}
motor->timerDmaSource = timerDmaSource(timerHardware->channel);
motor->timerDmaIndex = timerDmaIndex(timerHardware->channel);
motor->timer = &dmaMotorTimers[timerIndex];
dmaMotorTimers[timerIndex].timerDmaSources |= motor->timerDmaSource;
dmaMotorTimers[timerIndex].timerDmaSources |= timerDmaSource(timerHardware->channel);
/* Set the parameters to be configured */
motor->hdma_tim.Init.Channel = timerHardware->dmaChannel;
@ -145,13 +141,13 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->hdma_tim.Instance = timerHardware->dmaRef;
/* Link hdma_tim to hdma[x] (channelx) */
__HAL_LINKDMA(&motor->TimHandle, hdma[motor->timerDmaSource], motor->hdma_tim);
__HAL_LINKDMA(&motor->TimHandle, hdma[motor->timerDmaIndex], 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) {
if (HAL_DMA_Init(motor->TimHandle.hdma[motor->timerDmaIndex]) != HAL_OK) {
/* Initialization Error */
return;
}
@ -178,6 +174,17 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
/* Configuration Error */
return;
}
if (output & TIMER_OUTPUT_N_CHANNEL) {
if (HAL_TIMEx_PWMN_Start(&motor->TimHandle, motor->timerHardware->channel) != HAL_OK) {
/* Starting PWM generation Error */
return;
}
} else {
if (HAL_TIM_PWM_Start(&motor->TimHandle, motor->timerHardware->channel) != HAL_OK) {
/* Starting PWM generation Error */
return;
}
}
}
#endif