Removing DMA interrupt for dshot on F4
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49d6f92701
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@ -86,6 +86,7 @@ typedef struct {
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#else
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uint8_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
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#endif
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uint32_t dmaFlag;
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#if defined(STM32F7)
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TIM_HandleTypeDef TimHandle;
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DMA_HandleTypeDef hdma_tim;
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@ -82,6 +82,7 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
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packet <<= 1;
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}
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DMA_ClearITPendingBit(motor->timerHardware->dmaStream, motor->dmaFlag);
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DMA_SetCurrDataCounter(motor->timerHardware->dmaStream, MOTOR_DMA_BUFFER_SIZE);
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DMA_Cmd(motor->timerHardware->dmaStream, ENABLE);
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}
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@ -100,16 +101,6 @@ void pwmCompleteDigitalMotorUpdate(uint8_t motorCount)
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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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DMA_Cmd(descriptor->stream, DISABLE);
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TIM_DMACmd(motor->timerHardware->tim, motor->timerDmaSource, DISABLE);
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DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
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}
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}
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void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType)
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{
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TIM_OCInitTypeDef TIM_OCInitStructure;
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@ -176,7 +167,6 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
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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_Cmd(stream, DISABLE);
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DMA_DeInit(stream);
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@ -200,8 +190,8 @@ void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t
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DMA_Init(stream, &DMA_InitStructure);
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DMA_ITConfig(stream, DMA_IT_TC, ENABLE);
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DMA_ClearITPendingBit(stream, dmaFlag_IT_TCIF(timerHardware->dmaStream));
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motor->dmaFlag = dmaFlag_IT_TCIF(timerHardware->dmaStream);
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DMA_ClearITPendingBit(stream, motor->dmaFlag);
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}
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#endif
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