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[G4] DShot support (pure HAL)

This commit is contained in:
jflyper 2019-07-28 10:17:21 +09:00
parent b55f37b730
commit b94659412c
2 changed files with 10 additions and 4 deletions
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10
src/main/drivers/dshot_dpwm.h
View File

@ -62,13 +62,15 @@ motorDevice_t *dshotPwmDevInit(const struct motorDevConfig_s *motorConfig, uint1
// For H7, DMA buffer is placed in a dedicated segment for coherency management // For H7, DMA buffer is placed in a dedicated segment for coherency management
#if defined(STM32H7) #if defined(STM32H7)
#define DSHOT_DMA_BUFFER_ATTRIBUTE DMA_RAM #define DSHOT_DMA_BUFFER_ATTRIBUTE DMA_RAM
#elif defined(STM32G4)
#define DSHOT_DMA_BUFFER_ATTRIBUTE DMA_RAM_W
#elif defined(STM32F7) #elif defined(STM32F7)
#define DSHOT_DMA_BUFFER_ATTRIBUTE FAST_RAM_ZERO_INIT #define DSHOT_DMA_BUFFER_ATTRIBUTE FAST_RAM_ZERO_INIT
#else #else
#define DSHOT_DMA_BUFFER_ATTRIBUTE #define DSHOT_DMA_BUFFER_ATTRIBUTE // None
#endif #endif
#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7) || defined(STM32H7) #if defined(STM32F3) || defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
#define DSHOT_DMA_BUFFER_UNIT uint32_t #define DSHOT_DMA_BUFFER_UNIT uint32_t
#else #else
#define DSHOT_DMA_BUFFER_UNIT uint8_t #define DSHOT_DMA_BUFFER_UNIT uint8_t
@ -93,7 +95,7 @@ typedef struct {
#if defined(USE_DSHOT) #if defined(USE_DSHOT)
uint16_t outputPeriod; uint16_t outputPeriod;
#if defined(USE_DSHOT_DMAR) #if defined(USE_DSHOT_DMAR)
#if defined(STM32F7) || defined(STM32H7) #if defined(STM32F7) || defined(STM32H7) || defined(STM32G4)
TIM_HandleTypeDef timHandle; TIM_HandleTypeDef timHandle;
DMA_HandleTypeDef hdma_tim; DMA_HandleTypeDef hdma_tim;
#endif #endif
@ -113,7 +115,7 @@ typedef struct motorDmaOutput_s {
uint16_t timerDmaSource; uint16_t timerDmaSource;
uint8_t timerDmaIndex; uint8_t timerDmaIndex;
bool configured; bool configured;
#ifdef STM32H7 #if defined(STM32H7) || defined(STM32G4)
TIM_HandleTypeDef TimHandle; TIM_HandleTypeDef TimHandle;
DMA_HandleTypeDef hdma_tim; DMA_HandleTypeDef hdma_tim;
IO_t io; IO_t io;

4
src/main/drivers/pwm_output_dshot_hal_hal.c
View File

@ -386,10 +386,12 @@ P - High - High -
motor->timer->hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD ; motor->timer->hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD ;
motor->timer->hdma_tim.Init.Mode = DMA_NORMAL; motor->timer->hdma_tim.Init.Mode = DMA_NORMAL;
motor->timer->hdma_tim.Init.Priority = DMA_PRIORITY_HIGH; motor->timer->hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
#if !defined(STM32G4)
motor->timer->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE; motor->timer->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
motor->timer->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE; motor->timer->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
motor->timer->hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE; motor->timer->hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE;
motor->timer->hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; motor->timer->hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
#endif
motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0]; motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
motor->timer->timHandle = motor->TimHandle; motor->timer->timHandle = motor->TimHandle;
@ -415,10 +417,12 @@ P - High - High -
motor->hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD ; motor->hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD ;
motor->hdma_tim.Init.Mode = DMA_NORMAL; motor->hdma_tim.Init.Mode = DMA_NORMAL;
motor->hdma_tim.Init.Priority = DMA_PRIORITY_HIGH; motor->hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
#if !defined(STM32G4)
motor->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE; motor->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
motor->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE; motor->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
motor->hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE; motor->hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE;
motor->hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; motor->hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
#endif
motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0]; motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
motor->dmaBuffer[DSHOT_DMA_BUFFER_SIZE-2] = 0; // XXX Is this necessary? -> probably. motor->dmaBuffer[DSHOT_DMA_BUFFER_SIZE-2] = 0; // XXX Is this necessary? -> probably.