[H7] BB-Dshot support (TIM1/TIM8 limited version)

make/mcu/STM32H7.mk

@@ -239,6 +239,9 @@ MCU_COMMON_SRC = \
             drivers/bus_quadspi_hal.c \
             drivers/bus_spi_hal.c \
             drivers/dma_stm32h7xx.c \
+            drivers/dshot_bitbang.c \
+            drivers/dshot_bitbang_decode.c \
+            drivers/dshot_bitbang_ll.c \
             drivers/light_ws2811strip_hal.c \
             drivers/adc_stm32h7xx.c \
             drivers/bus_i2c_hal.c \

src/main/drivers/dma.h

@@ -34,7 +34,8 @@ typedef struct dmaResource_s dmaResource_t;
 #if defined(STM32F4) || defined(STM32F7)
 #define DMA_ARCH_TYPE DMA_Stream_TypeDef
 #elif defined(STM32H7)
-#define DMA_ARCH_TYPE void
+// H7 has stream based DMA and channel based BDMA, but we ignore BDMA (for now).
+#define DMA_ARCH_TYPE DMA_Stream_TypeDef
 #else
 #define DMA_ARCH_TYPE DMA_Channel_TypeDef
 #endif

src/main/drivers/dshot_bitbang.c

@@ -104,8 +104,9 @@ const timerHardware_t bbTimerHardware[] = {
     DEF_TIM(TIM1,  CH2, NONE,  TIM_USE_NONE, 0, 1),
     DEF_TIM(TIM1,  CH3, NONE,  TIM_USE_NONE, 0, 1),
     DEF_TIM(TIM1,  CH4, NONE,  TIM_USE_NONE, 0, 0),
-#elif defined(STM32G4)
+
-    // XXX TODO: STM32G4 can use any timer for pacing
+#elif defined(STM32G4) || defined(STM32H7)
+    // XXX TODO: STM32G4 and STM32H7 can use any timer for pacing
 
     // DMA request numbers are duplicated for TIM1 and TIM8:
     //   - Any pacer can serve a GPIO port.
@@ -121,6 +122,7 @@ const timerHardware_t bbTimerHardware[] = {
     DEF_TIM(TIM1,  CH2, NONE,  TIM_USE_NONE, 0, 1, 0),
     DEF_TIM(TIM1,  CH3, NONE,  TIM_USE_NONE, 0, 2, 0),
     DEF_TIM(TIM1,  CH4, NONE,  TIM_USE_NONE, 0, 3, 0),
+
 #else
 #error MCU dependent code required
 #endif
@@ -703,7 +705,7 @@ motorDevice_t *dshotBitbangDevInit(const motorDevConfig_t *motorConfig, uint8_t
         bbMotors[motorIndex].output = output;
 #if defined(STM32F4) || defined(STM32F3)
         bbMotors[motorIndex].iocfg = IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_50MHz, GPIO_OType_PP, bbPuPdMode);
-#elif defined(STM32F7) || defined(STM32G4)
+#elif defined(STM32F7) || defined(STM32G4) || defined(STM32H7)
         bbMotors[motorIndex].iocfg = IO_CONFIG(GPIO_MODE_OUTPUT_PP, GPIO_SPEED_FREQ_VERY_HIGH, bbPuPdMode);
 #endif
 

src/main/drivers/dshot_bitbang_impl.h

@@ -74,7 +74,7 @@
 
 #ifdef USE_DMA_REGISTER_CACHE
 typedef struct dmaRegCache_s {
-#if defined(STM32F4) || defined(STM32F7)
+#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
     uint32_t CR;
     uint32_t FCR;
     uint32_t NDTR;

src/main/drivers/dshot_bitbang_ll.c

@@ -51,7 +51,11 @@ void bbGpioSetup(bbMotor_t *bbMotor)
     bbPort_t *bbPort = bbMotor->bbPort;
     int pinIndex = bbMotor->pinIndex;
 
+#ifdef STM32H7
+    bbPort->gpioModeMask |= (GPIO_MODER_MODE0 << (pinIndex * 2)); // A minor name change in H7 CMSIS
+#else
     bbPort->gpioModeMask |= (GPIO_MODER_MODER0 << (pinIndex * 2));
+#endif
     bbPort->gpioModeInput |= (LL_GPIO_MODE_INPUT << (pinIndex * 2));
     bbPort->gpioModeOutput |= (LL_GPIO_MODE_OUTPUT << (pinIndex * 2));
 
@@ -73,7 +77,7 @@ void bbGpioSetup(bbMotor_t *bbMotor)
         IOWrite(bbMotor->io, 0);
     }
 
-#if defined(STM32F7) || defined(STM32G4)
+#if defined(STM32F7) || defined(STM32G4) || defined(STM32H7)
     IOConfigGPIO(bbMotor->io, IO_CONFIG(GPIO_MODE_OUTPUT_PP, GPIO_SPEED_FREQ_HIGH, bbPuPdMode));
 #else
 #error MCU dependent code required
@@ -127,7 +131,7 @@ void bbTimerChannelInit(bbPort_t *bbPort)
 #ifdef USE_DMA_REGISTER_CACHE
 void bbLoadDMARegs(dmaResource_t *dmaResource, dmaRegCache_t *dmaRegCache)
 {
-#if defined(STM32F7)
+#if defined(STM32F7) || defined(STM32H7)
     ((DMA_ARCH_TYPE *)dmaResource)->CR = dmaRegCache->CR;
     ((DMA_ARCH_TYPE *)dmaResource)->FCR = dmaRegCache->FCR;
     ((DMA_ARCH_TYPE *)dmaResource)->NDTR = dmaRegCache->NDTR;
@@ -145,7 +149,7 @@ void bbLoadDMARegs(dmaResource_t *dmaResource, dmaRegCache_t *dmaRegCache)
 
 static void bbSaveDMARegs(dmaResource_t *dmaResource, dmaRegCache_t *dmaRegCache)
 {
-#if defined(STM32F7)
+#if defined(STM32F7) || defined(STM32H7)
     dmaRegCache->CR = ((DMA_ARCH_TYPE *)dmaResource)->CR;
     dmaRegCache->FCR = ((DMA_ARCH_TYPE *)dmaResource)->FCR;
     dmaRegCache->NDTR = ((DMA_ARCH_TYPE *)dmaResource)->NDTR;
@@ -242,7 +246,7 @@ void bbDMAPreconfigure(bbPort_t *bbPort, uint8_t direction)
     LL_DMA_StructInit(dmainit);
 
     dmainit->Mode = LL_DMA_MODE_NORMAL;
-#if defined(STM32G4)
+#if defined(STM32G4) || defined(STM32H7)
     dmainit->PeriphRequest = bbPort->dmaChannel;
 #else
     dmainit->Channel = bbPort->dmaChannel;

src/main/drivers/timer_def.h

@@ -910,6 +910,16 @@
 
 // AF table
 
+// NONE
+#define DEF_TIM_AF__NONE__TCH_TIM1_CH1     D(1, 1)
+#define DEF_TIM_AF__NONE__TCH_TIM1_CH2     D(1, 1)
+#define DEF_TIM_AF__NONE__TCH_TIM1_CH3     D(1, 1)
+#define DEF_TIM_AF__NONE__TCH_TIM1_CH4     D(1, 1)
+#define DEF_TIM_AF__NONE__TCH_TIM8_CH1     D(3, 8)
+#define DEF_TIM_AF__NONE__TCH_TIM8_CH2     D(3, 8)
+#define DEF_TIM_AF__NONE__TCH_TIM8_CH3     D(3, 8)
+#define DEF_TIM_AF__NONE__TCH_TIM8_CH4     D(3, 8)
+
 //PORTA
 #define DEF_TIM_AF__PA0__TCH_TIM2_CH1     D(1, 2)
 #define DEF_TIM_AF__PA1__TCH_TIM2_CH2     D(1, 2)

src/main/target/common_pre.h

@@ -110,6 +110,7 @@
 #define USE_ITCM_RAM
 #define USE_FAST_DATA
 #define USE_DSHOT
+#define USE_DSHOT_BITBANG
 #define USE_DSHOT_TELEMETRY
 #define USE_DSHOT_TELEMETRY_STATS
 #define USE_RPM_FILTER