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atbetaflight
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This commit is contained in:
Thorsten Laux 2019-03-03 11:33:14 +01:00
parent 4af3308edf
commit cec679ac60
8 changed files with 28 additions and 187 deletions
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1
make/mcu/STM32F3.mk
View File

@ -83,6 +83,7 @@ MCU_COMMON_SRC = \
drivers/light_ws2811strip_stdperiph.c \
drivers/transponder_ir_io_stdperiph.c \
drivers/pwm_output_dshot.c \
drivers/pwm_output_dshot_shared.c \
drivers/serial_uart_init.c \
drivers/serial_uart_stm32f30x.c \
drivers/system_stm32f30x.c \

1
make/mcu/STM32F4.mk
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@ -179,6 +179,7 @@ MCU_COMMON_SRC = \
drivers/light_ws2811strip_stdperiph.c \
drivers/transponder_ir_io_stdperiph.c \
drivers/pwm_output_dshot.c \
drivers/pwm_output_dshot_shared.c \
drivers/serial_uart_init.c \
drivers/serial_uart_stm32f4xx.c \
drivers/system_stm32f4xx.c \

1
make/mcu/STM32F7.mk
View File

@ -179,6 +179,7 @@ MCU_COMMON_SRC = \
drivers/bus_spi_ll.c \
drivers/persistent.c \
drivers/pwm_output_dshot_hal.c \
drivers/pwm_output_dshot_shared.c \
drivers/timer_hal.c \
drivers/timer_stm32f7xx.c \
drivers/system_stm32f7xx.c \

1
make/source.mk
View File

@ -328,6 +328,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
drivers/bus_spi_ll.c \
drivers/max7456.c \
drivers/pwm_output_dshot.c \
drivers/pwm_output_dshot_shared.c \
drivers/pwm_output_dshot_hal.c
endif #!F3
endif #!F1

9
src/main/drivers/pwm_output_dshot.c
View File

@ -43,11 +43,6 @@
#include "pwm_output.h"
// TODO remove once debugging no longer needed
#ifdef USE_DSHOT_TELEMETRY
#include <string.h>
#endif
#include "pwm_output_dshot_shared.h"
#ifdef USE_DSHOT_TELEMETRY
@ -60,7 +55,7 @@ static void processInputIrq(motorDmaOutput_t * const motor)
readDoneCount++;
}
static void enableChannels(uint8_t motorCount)
void dshotEnableChannels(uint8_t motorCount)
{
for (int i = 0; i < motorCount; i++) {
if (dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL) {
@ -75,7 +70,7 @@ static void enableChannels(uint8_t motorCount)
static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor);
inline FAST_CODE static void pwmDshotSetDirectionOutput(
FAST_CODE void pwmDshotSetDirectionOutput(
motorDmaOutput_t * const motor, bool output
#ifndef USE_DSHOT_TELEMETRY
,TIM_OCInitTypeDef *pOcInit, DMA_InitTypeDef* pDmaInit

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

@ -64,7 +64,7 @@ static void processInputIrq(motorDmaOutput_t * const motor)
readDoneCount++;
}
static void enableChannels(uint8_t motorCount)
void dshotEnableChannels(uint8_t motorCount)
{
for (int i = 0; i < motorCount; i++) {
if (dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL) {
@ -80,7 +80,7 @@ static void enableChannels(uint8_t motorCount)
static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor);
inline static void pwmDshotSetDirectionOutput(
void pwmDshotSetDirectionOutput(
motorDmaOutput_t * const motor, bool output
#ifndef USE_DSHOT_TELEMETRY
, LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit)

196
src/main/drivers/pwm_output_dshot_shared.h
View File

@ -20,159 +20,42 @@
#ifdef USE_DSHOT
// TODO remove once debugging no longer needed
#ifdef USE_DSHOT_TELEMETRY
#include <string.h>
#endif
#if defined(STM32F4) || defined(STM32F7)
typedef DMA_Stream_TypeDef dmaStream_t;
#else
typedef DMA_Channel_TypeDef dmaStream_t;
#endif
FAST_RAM_ZERO_INIT static uint8_t dmaMotorTimerCount = 0;
extern FAST_RAM_ZERO_INIT uint8_t dmaMotorTimerCount;
#ifdef STM32F7
FAST_RAM_ZERO_INIT static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
FAST_RAM_ZERO_INIT static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
extern FAST_RAM_ZERO_INIT motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
extern FAST_RAM_ZERO_INIT motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
#else
static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
extern motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
extern motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
#endif
#ifdef USE_DSHOT_TELEMETRY
uint32_t readDoneCount;
extern uint32_t readDoneCount;
// TODO remove once debugging no longer needed
FAST_RAM_ZERO_INIT uint32_t dshotInvalidPacketCount;
FAST_RAM_ZERO_INIT uint32_t inputBuffer[DSHOT_TELEMETRY_INPUT_LEN];
FAST_RAM_ZERO_INIT uint32_t setDirectionMicros;
FAST_RAM_ZERO_INIT extern uint32_t dshotInvalidPacketCount;
FAST_RAM_ZERO_INIT extern uint32_t inputBuffer[DSHOT_TELEMETRY_INPUT_LEN];
FAST_RAM_ZERO_INIT extern uint32_t setDirectionMicros;
#endif
motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
{
return &dmaMotors[index];
}
uint8_t getTimerIndex(TIM_TypeDef *timer)
{
for (int i = 0; i < dmaMotorTimerCount; i++) {
if (dmaMotorTimers[i].timer == timer) {
return i;
}
}
dmaMotorTimers[dmaMotorTimerCount++].timer = timer;
return dmaMotorTimerCount - 1;
}
FAST_CODE void pwmWriteDshotInt(uint8_t index, uint16_t value)
{
motorDmaOutput_t *const motor = &dmaMotors[index];
if (!motor->configured) {
return;
}
/*If there is a command ready to go overwrite the value and send that instead*/
if (pwmDshotCommandIsProcessing()) {
value = pwmGetDshotCommand(index);
#ifdef USE_DSHOT_TELEMETRY
// reset telemetry debug statistics every time telemetry is enabled
if (value == DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY) {
dshotInvalidPacketCount = 0;
readDoneCount = 0;
}
#endif
if (value) {
motor->requestTelemetry = true;
}
}
motor->value = value;
uint16_t packet = prepareDshotPacket(motor);
uint8_t bufferSize;
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
bufferSize = loadDmaBuffer(&motor->timer->dmaBurstBuffer[timerLookupChannelIndex(motor->timerHardware->channel)], 4, packet);
motor->timer->dmaBurstLength = bufferSize * 4;
} else
#endif
{
bufferSize = loadDmaBuffer(motor->dmaBuffer, 1, packet);
motor->timer->timerDmaSources |= motor->timerDmaSource;
#ifdef STM32F7
LL_EX_DMA_SetDataLength(motor->dmaRef, bufferSize);
LL_EX_DMA_EnableStream(motor->dmaRef);
#else
DMA_SetCurrDataCounter(motor->dmaRef, bufferSize);
DMA_Cmd(motor->dmaRef, ENABLE);
#endif
}
}
uint8_t getTimerIndex(TIM_TypeDef *timer);
motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
void dshotEnableChannels(uint8_t motorCount);
#ifdef USE_DSHOT_TELEMETRY
static void enableChannels(uint8_t motorCount);
static uint16_t decodeDshotPacket(uint32_t buffer[])
{
uint32_t value = 0;
for (int i = 1; i < DSHOT_TELEMETRY_INPUT_LEN; i += 2) {
int diff = buffer[i] - buffer[i-1];
value <<= 1;
if (diff > 0) {
if (diff >= 11) value |= 1;
} else {
if (diff >= -9) value |= 1;
}
}
uint32_t csum = value;
csum = csum ^ (csum >> 8); // xor bytes
csum = csum ^ (csum >> 4); // xor nibbles
if (csum & 0xf) {
return 0xffff;
}
return value >> 4;
}
static uint16_t decodeProshotPacket(uint32_t buffer[])
{
uint32_t value = 0;
for (int i = 1; i < PROSHOT_TELEMETRY_INPUT_LEN; i += 2) {
const int proshotModulo = MOTOR_NIBBLE_LENGTH_PROSHOT;
int diff = ((buffer[i] + proshotModulo - buffer[i-1]) % proshotModulo) - PROSHOT_BASE_SYMBOL;
int nibble;
if (diff < 0) {
nibble = 0;
} else {
nibble = (diff + PROSHOT_BIT_WIDTH / 2) / PROSHOT_BIT_WIDTH;
}
value <<= 4;
value |= (nibble & 0xf);
}
uint32_t csum = value;
csum = csum ^ (csum >> 8); // xor bytes
csum = csum ^ (csum >> 4); // xor nibbles
if (csum & 0xf) {
return 0xffff;
}
return value >> 4;
}
#endif
#ifdef USE_DSHOT_TELEMETRY
uint16_t getDshotTelemetry(uint8_t index)
{
return dmaMotors[index].dshotTelemetryValue;
}
inline FAST_CODE static void pwmDshotSetDirectionOutput(
FAST_CODE void pwmDshotSetDirectionOutput(
motorDmaOutput_t * const motor, bool output
#ifndef USE_DSHOT_TELEMETRY
#ifdef STM32F7
@ -183,48 +66,7 @@ inline FAST_CODE static void pwmDshotSetDirectionOutput(
#endif
);
void pwmStartDshotMotorUpdate(uint8_t motorCount)
{
if (useDshotTelemetry) {
for (int i = 0; i < motorCount; i++) {
if (dmaMotors[i].hasTelemetry) {
#ifdef STM32F7
uint32_t edges = LL_EX_DMA_GetDataLength(dmaMotors[i].dmaRef);
#else
uint32_t edges = DMA_GetCurrDataCounter(dmaMotors[i].dmaRef);
#endif
uint16_t value = 0xffff;
if (edges == 0) {
if (dmaMotors[i].useProshot) {
value = decodeProshotPacket(dmaMotors[i].dmaBuffer);
} else {
value = decodeDshotPacket(dmaMotors[i].dmaBuffer);
}
}
if (value != 0xffff) {
dmaMotors[i].dshotTelemetryValue = value;
if (i < 4) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, i, value);
}
} else {
dshotInvalidPacketCount++;
if (i == 0) {
memcpy(inputBuffer,dmaMotors[i].dmaBuffer,sizeof(inputBuffer));
}
}
dmaMotors[i].hasTelemetry = false;
} else {
#ifdef STM32F7
LL_EX_TIM_DisableIT(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource);
#else
TIM_DMACmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource, DISABLE);
#endif
}
pwmDshotSetDirectionOutput(&dmaMotors[i], true);
}
enableChannels(motorCount);
}
}
void pwmStartDshotMotorUpdate(uint8_t motorCount);
#endif
#endif

2
src/main/target/MATEKF722/target.c
View File

@ -30,7 +30,7 @@
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM9, CH2, PA3, TIM_USE_PPM, 0, 0), // PPM
DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, 0, 1), // S1 DMA2_ST2 (XXX was DMA1_ST4)
DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, 0, 0), // S1 DMA2_ST2 (XXX was DMA1_ST4)
DEF_TIM(TIM8, CH2, PC7, TIM_USE_MOTOR, 0, 1), // S2 DMA2_ST3
DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 1), // S3 DMA2_ST4
DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0), // S4 DMA2_ST7