mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-16 04:45:24 +03:00
281 lines
9.4 KiB
C
281 lines
9.4 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include "platform.h"
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#ifdef USE_DSHOT
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#include "drivers/io.h"
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#include "timer.h"
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#include "pwm_output.h"
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#include "drivers/nvic.h"
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#include "drivers/time.h"
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#include "dma.h"
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#include "rcc.h"
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static FAST_RAM_ZERO_INIT uint8_t dmaMotorTimerCount = 0;
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static FAST_RAM_ZERO_INIT motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
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static FAST_RAM_ZERO_INIT motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
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motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
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{
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return &dmaMotors[index];
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}
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uint8_t getTimerIndex(TIM_TypeDef *timer)
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{
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for (int i = 0; i < dmaMotorTimerCount; i++) {
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if (dmaMotorTimers[i].timer == timer) {
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return i;
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}
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}
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dmaMotorTimers[dmaMotorTimerCount++].timer = timer;
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return dmaMotorTimerCount - 1;
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}
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FAST_CODE void pwmWriteDshotInt(uint8_t index, uint16_t value)
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{
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motorDmaOutput_t *const motor = &dmaMotors[index];
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if (!motor->configured) {
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return;
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}
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/*If there is a command ready to go overwrite the value and send that instead*/
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if (pwmIsProcessingDshotCommand()) {
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value = pwmGetDshotCommand(index);
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motor->requestTelemetry = true;
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}
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uint16_t packet = prepareDshotPacket(motor, value);
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uint8_t bufferSize;
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#ifdef USE_DSHOT_DMAR
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if (useBurstDshot) {
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bufferSize = loadDmaBuffer(&motor->timer->dmaBurstBuffer[timerLookupChannelIndex(motor->timerHardware->channel)], 4, packet);
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motor->timer->dmaBurstLength = bufferSize * 4;
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} else
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#endif
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{
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bufferSize = loadDmaBuffer(motor->dmaBuffer, 1, packet);
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motor->timer->timerDmaSources |= motor->timerDmaSource;
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LL_EX_DMA_SetDataLength(motor->timerHardware->dmaRef, bufferSize);
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LL_EX_DMA_EnableStream(motor->timerHardware->dmaRef);
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}
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}
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FAST_CODE void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
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{
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UNUSED(motorCount);
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/* If there is a dshot command loaded up, time it correctly with motor update*/
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if (pwmIsProcessingDshotCommand()) {
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if (!pwmProcessDshotCommand(motorCount)) {
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return;
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}
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}
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for (int i = 0; i < dmaMotorTimerCount; i++) {
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#ifdef USE_DSHOT_DMAR
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if (useBurstDshot) {
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LL_EX_DMA_SetDataLength(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength);
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LL_EX_DMA_EnableStream(dmaMotorTimers[i].dmaBurstRef);
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/* configure the DMA Burst Mode */
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LL_TIM_ConfigDMABurst(dmaMotorTimers[i].timer, LL_TIM_DMABURST_BASEADDR_CCR1, LL_TIM_DMABURST_LENGTH_4TRANSFERS);
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/* Enable the TIM DMA Request */
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LL_TIM_EnableDMAReq_UPDATE(dmaMotorTimers[i].timer);
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} else
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#endif
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{
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/* Reset timer counter */
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LL_TIM_SetCounter(dmaMotorTimers[i].timer, 0);
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/* Enable channel DMA requests */
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LL_EX_TIM_EnableIT(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources);
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dmaMotorTimers[i].timerDmaSources = 0;
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}
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}
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}
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static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
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{
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if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
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motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
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#ifdef USE_DSHOT_DMAR
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if (useBurstDshot) {
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LL_EX_DMA_DisableStream(motor->timerHardware->dmaTimUPRef);
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LL_TIM_DisableDMAReq_UPDATE(motor->timerHardware->tim);
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} else
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#endif
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{
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LL_EX_DMA_DisableStream(motor->timerHardware->dmaRef);
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LL_EX_TIM_DisableIT(motor->timerHardware->tim, motor->timerDmaSource);
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}
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DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
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}
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}
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void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
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{
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DMA_Stream_TypeDef *dmaRef;
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#ifdef USE_DSHOT_DMAR
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if (useBurstDshot) {
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dmaRef = timerHardware->dmaTimUPRef;
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} else
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#endif
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{
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dmaRef = timerHardware->dmaRef;
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}
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if (dmaRef == NULL) {
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return;
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}
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LL_TIM_OC_InitTypeDef oc_init;
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LL_DMA_InitTypeDef dma_init;
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motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
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motor->timerHardware = timerHardware;
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TIM_TypeDef *timer = timerHardware->tim;
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const IO_t motorIO = IOGetByTag(timerHardware->tag);
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const uint8_t timerIndex = getTimerIndex(timer);
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const bool configureTimer = (timerIndex == dmaMotorTimerCount - 1);
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IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLDOWN), timerHardware->alternateFunction);
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if (configureTimer) {
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LL_TIM_InitTypeDef init;
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LL_TIM_StructInit(&init);
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RCC_ClockCmd(timerRCC(timer), ENABLE);
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LL_TIM_DisableCounter(timer);
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init.Prescaler = (uint16_t)(lrintf((float) timerClock(timer) / getDshotHz(pwmProtocolType) + 0.01f) - 1);
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init.Autoreload = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
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init.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
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init.RepetitionCounter = 0;
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init.CounterMode = LL_TIM_COUNTERMODE_UP;
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LL_TIM_Init(timer, &init);
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}
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LL_TIM_OC_StructInit(&oc_init);
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oc_init.OCMode = LL_TIM_OCMODE_PWM1;
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if (output & TIMER_OUTPUT_N_CHANNEL) {
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oc_init.OCNState = LL_TIM_OCSTATE_ENABLE;
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oc_init.OCNIdleState = LL_TIM_OCIDLESTATE_LOW;
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oc_init.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? LL_TIM_OCPOLARITY_LOW : LL_TIM_OCPOLARITY_HIGH;
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} else {
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oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
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oc_init.OCIdleState = LL_TIM_OCIDLESTATE_HIGH;
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oc_init.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? LL_TIM_OCPOLARITY_LOW : LL_TIM_OCPOLARITY_HIGH;
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}
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oc_init.CompareValue = 0;
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uint32_t channel;
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switch (timerHardware->channel) {
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case TIM_CHANNEL_1: channel = LL_TIM_CHANNEL_CH1; break;
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case TIM_CHANNEL_2: channel = LL_TIM_CHANNEL_CH2; break;
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case TIM_CHANNEL_3: channel = LL_TIM_CHANNEL_CH3; break;
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case TIM_CHANNEL_4: channel = LL_TIM_CHANNEL_CH4; break;
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}
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LL_TIM_OC_Init(timer, channel, &oc_init);
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LL_TIM_OC_EnablePreload(timer, channel);
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LL_TIM_OC_DisableFast(timer, channel);
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if (output & TIMER_OUTPUT_N_CHANNEL) {
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LL_EX_TIM_CC_EnableNChannel(timer, channel);
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} else {
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LL_TIM_CC_EnableChannel(timer, channel);
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}
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if (configureTimer) {
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LL_TIM_EnableAllOutputs(timer);
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LL_TIM_EnableARRPreload(timer);
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LL_TIM_EnableCounter(timer);
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}
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motor->timer = &dmaMotorTimers[timerIndex];
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#ifdef USE_DSHOT_DMAR
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if (useBurstDshot) {
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motor->timer->dmaBurstRef = dmaRef;
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if (!configureTimer) {
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motor->configured = true;
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return;
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}
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} else
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#endif
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{
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motor->timerDmaSource = timerDmaSource(timerHardware->channel);
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motor->timer->timerDmaSources &= ~motor->timerDmaSource;
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}
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LL_EX_DMA_DeInit(dmaRef);
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LL_DMA_StructInit(&dma_init);
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#ifdef USE_DSHOT_DMAR
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if (useBurstDshot) {
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dmaInit(timerHardware->dmaTimUPIrqHandler, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim));
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dmaSetHandler(timerHardware->dmaTimUPIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
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dma_init.Channel = timerHardware->dmaTimUPChannel;
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dma_init.MemoryOrM2MDstAddress = (uint32_t)motor->timer->dmaBurstBuffer;
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dma_init.FIFOThreshold = LL_DMA_FIFOTHRESHOLD_FULL;
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dma_init.PeriphOrM2MSrcAddress = (uint32_t)&timerHardware->tim->DMAR;
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} else
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#endif
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{
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dmaInit(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
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dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
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dma_init.Channel = timerHardware->dmaChannel;
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dma_init.MemoryOrM2MDstAddress = (uint32_t)motor->dmaBuffer;
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dma_init.FIFOThreshold = LL_DMA_FIFOTHRESHOLD_1_4;
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dma_init.PeriphOrM2MSrcAddress = (uint32_t)timerChCCR(timerHardware);
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}
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dma_init.Direction = LL_DMA_DIRECTION_MEMORY_TO_PERIPH;
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dma_init.FIFOMode = LL_DMA_FIFOMODE_ENABLE;
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dma_init.MemBurst = LL_DMA_MBURST_SINGLE;
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dma_init.PeriphBurst = LL_DMA_PBURST_SINGLE;
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dma_init.NbData = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? PROSHOT_DMA_BUFFER_SIZE : DSHOT_DMA_BUFFER_SIZE;
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dma_init.PeriphOrM2MSrcIncMode = LL_DMA_PERIPH_NOINCREMENT;
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dma_init.MemoryOrM2MDstIncMode = LL_DMA_MEMORY_INCREMENT;
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dma_init.PeriphOrM2MSrcDataSize = LL_DMA_PDATAALIGN_WORD;
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dma_init.MemoryOrM2MDstDataSize = LL_DMA_MDATAALIGN_WORD;
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dma_init.Mode = LL_DMA_MODE_NORMAL;
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dma_init.Priority = LL_DMA_PRIORITY_HIGH;
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LL_EX_DMA_Init(dmaRef, &dma_init);
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LL_EX_DMA_EnableIT_TC(dmaRef);
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motor->configured = true;
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}
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#endif
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