Fixed problems with bitbanged Dshot and lazily allocated timers. (#8861)

Fixed problems with bitbanged Dshot and lazily allocated timers.

src/main/cli/settings.c

@@ -477,6 +477,10 @@ static const char* const lookupTableInterpolatedSetpoint[] = {
     "OFF", "ON", "AVERAGED"
 };
 
+static const char* const lookupTableDshotBitbangedTimer[] = {
+    "AUTO", "TIM1", "TIM8"
+};
+
 
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
@@ -594,6 +598,7 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTablePositionAltSource),
     LOOKUP_TABLE_ENTRY(lookupTableOffOnAuto),
     LOOKUP_TABLE_ENTRY(lookupTableInterpolatedSetpoint),
+    LOOKUP_TABLE_ENTRY(lookupTableDshotBitbangedTimer),
 };
 
 #undef LOOKUP_TABLE_ENTRY
@@ -767,7 +772,8 @@ const clivalue_t valueTable[] = {
     { "dshot_bidir",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotTelemetry) },
 #endif
 #ifdef USE_DSHOT_BITBANG
-    { "dshot_bitbang",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbang) },
+    { "dshot_bitbang",               VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbang) },
+    { "dshot_bitbang_timer",         VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DSHOT_BITBANGED_TIMER }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbangedTimer) },
 #endif
 #endif
     { "use_unsynced_pwm",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useUnsyncedPwm) },

src/main/cli/settings.h

@@ -137,6 +137,7 @@ typedef enum {
     TABLE_POSITION_ALT_SOURCE,
     TABLE_OFF_ON_AUTO,
     TABLE_INTERPOLATED_SP,
+    TABLE_DSHOT_BITBANGED_TIMER,
 
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;

src/main/drivers/dshot_bitbang.c

@@ -311,6 +311,10 @@ static void bbFindPacerTimer(void)
         for (unsigned timerIndex = 0; timerIndex < ARRAYLEN(bbTimerHardware); timerIndex++) {
             timer = &bbTimerHardware[timerIndex];
             int timNumber = timerGetTIMNumber(timer->tim);
+            if ((motorConfig()->dev.useDshotBitbangedTimer == DSHOT_BITBANGED_TIMER_TIM1 && timNumber != 1)
+                || (motorConfig()->dev.useDshotBitbangedTimer == DSHOT_BITBANGED_TIMER_TIM8 && timNumber != 8)) {
+                continue;
+            }
             bool timerConflict = false;
             for (int channel = 0; channel < CC_CHANNELS_PER_TIMER; channel++) {
                 const resourceOwner_e timerOwner = timerGetOwner(timNumber, CC_CHANNEL_FROM_INDEX(channel))->owner;
@@ -334,6 +338,7 @@ static void bbFindPacerTimer(void)
             if (dmaGetOwner(dmaIdentifier)->owner == OWNER_FREE &&
                 !usedTimerChannels[timNumber][timer->channel]) {
                 usedTimerChannels[timNumber][timer->channel] = true;
+
                 break;
             }
         }

src/main/pg/motor.c

@@ -75,7 +75,8 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
     motorConfig->motorPoleCount = 14;   // Most brushes motors that we use are 14 poles
 
 #ifdef USE_DSHOT_BITBANG
-    motorConfig->dev.useDshotBitbang = DSHOT_BITBANG_AUTO;
+    motorConfig->dev.useDshotBitbang = DSHOT_BITBANG_DEFAULT;
+    motorConfig->dev.useDshotBitbangedTimer = DSHOT_BITBANGED_TIMER_DEFAULT;
 #endif
 }
 

src/main/pg/motor.h

@@ -25,6 +25,12 @@
 #include "drivers/io.h"
 #include "drivers/dshot_bitbang.h"
 
+typedef enum {
+    DSHOT_BITBANGED_TIMER_AUTO = 0,
+    DSHOT_BITBANGED_TIMER_TIM1,
+    DSHOT_BITBANGED_TIMER_TIM8,
+} dshotBitbangedTimer_e;
+
 typedef struct motorDevConfig_s {
     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
     uint8_t  motorPwmProtocol;              // Pwm Protocol
@@ -35,6 +41,7 @@ typedef struct motorDevConfig_s {
     ioTag_t  ioTags[MAX_SUPPORTED_MOTORS];
     uint8_t  motorTransportProtocol;
     uint8_t  useDshotBitbang;
+    uint8_t  useDshotBitbangedTimer;
 } motorDevConfig_t;
 
 typedef struct motorConfig_s {

src/main/target/common_defaults_post.h

@@ -661,3 +661,13 @@
 #endif
 #define MAX_SUPPORTED_SERVOS 8
 #endif
+
+#if defined(USE_DSHOT_BITBANG)
+#if !defined(DSHOT_BITBANG_DEFAULT)
+#define DSHOT_BITBANG_DEFAULT DSHOT_BITBANG_AUTO
+#endif
+
+#if !defined(DSHOT_BITBANGED_TIMER_DEFAULT)
+#define DSHOT_BITBANGED_TIMER_DEFAULT DSHOT_BITBANGED_TIMER_AUTO
+#endif
+#endif // USE_DSHOT_BITBANG