rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fix dshot bidir on H7

This commit is contained in:
Thorsten Laux 2019-09-24 13:34:51 +02:00 committed by Dominic Clifton
parent 08e8afa090
commit 6b0bca4ef5
2 changed files with 21 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/main/drivers/dshot_dpwm.h
View File

@ -116,6 +116,7 @@ typedef struct motorDmaOutput_s {
#ifdef STM32H7
TIM_HandleTypeDef TimHandle;
DMA_HandleTypeDef hdma_tim;
IO_t io;
#endif
uint8_t output;
uint8_t index;

20
src/main/drivers/pwm_output_dshot_hal.c
View File

@ -115,7 +115,17 @@ static void pwmDshotSetDirectionInput(
}
LL_TIM_EnableARRPreload(timer); // Only update the period once all channels are done
timer->ARR = 0xffffffff;
#ifdef STM32H7
IOConfigGPIO(motor->io, GPIO_MODE_OUTPUT_PP);
#endif
LL_TIM_IC_Init(timer, motor->llChannel, &motor->icInitStruct);
#ifdef STM32H7
IOConfigGPIOAF(motor->io, motor->iocfg, timerHardware->alternateFunction);
#endif
motor->dmaInitStruct.Direction = LL_DMA_DIRECTION_PERIPH_TO_MEMORY;
xLL_EX_DMA_Init(motor->dmaRef, pDmaInit);
}
@ -240,11 +250,21 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
output ^= TIMER_OUTPUT_INVERTED;
#ifdef STM32H7
if (output & TIMER_OUTPUT_INVERTED) {
IOHi(motorIO);
} else {
IOLo(motorIO);
}
#endif
}
#endif
motor->timerHardware = timerHardware;
motor->iocfg = IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, pupMode);
#ifdef STM32H7
motor->io = motorIO;
#endif
IOConfigGPIOAF(motorIO, motor->iocfg, timerHardware->alternateFunction);
if (configureTimer) {