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atbetaflight/src/main/drivers/pwm_output_dshot_hal.c

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/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <math.h>
#include "platform.h"
#ifdef USE_DSHOT
#include "build/debug.h"
#include "drivers/dma.h"
#include "drivers/dma_reqmap.h"
#include "drivers/io.h"
#include "drivers/nvic.h"
#include "drivers/rcc.h"
#include "drivers/time.h"
#include "drivers/timer.h"
#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
static void processInputIrq(motorDmaOutput_t * const motor)
{
motor->hasTelemetry = true;
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
LL_EX_DMA_DisableStream(motor->timerHardware->dmaTimUPRef);
LL_TIM_DisableDMAReq_UPDATE(motor->timerHardware->tim);
} else
#endif
{
LL_EX_DMA_DisableStream(motor->dmaRef);
LL_EX_TIM_DisableIT(motor->timerHardware->tim, motor->timerDmaSource);
}
readDoneCount++;
}
void dshotEnableChannels(uint8_t motorCount)
{
for (int i = 0; i < motorCount; i++) {
if (dmaMotors[i].output & TIMER_OUTPUT_N_CHANNEL) {
LL_EX_TIM_CC_EnableNChannel(dmaMotors[i].timerHardware->tim, dmaMotors[i].llChannel);
} else {
LL_TIM_CC_EnableChannel(dmaMotors[i].timerHardware->tim, dmaMotors[i].llChannel);
}
}
}
#endif
static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor);
void pwmDshotSetDirectionOutput(
motorDmaOutput_t * const motor, bool output
#ifndef USE_DSHOT_TELEMETRY
, LL_TIM_OC_InitTypeDef* pOcInit, LL_DMA_InitTypeDef* pDmaInit)
#endif
)
{
#ifdef USE_DSHOT_TELEMETRY
LL_TIM_OC_InitTypeDef* pOcInit = &motor->ocInitStruct;
LL_DMA_InitTypeDef* pDmaInit = &motor->dmaInitStruct;
#endif
const timerHardware_t * const timerHardware = motor->timerHardware;
TIM_TypeDef *timer = timerHardware->tim;
LL_EX_DMA_DeInit(motor->dmaRef);
#ifdef USE_DSHOT_TELEMETRY
motor->isInput = !output;
if (!output) {
LL_TIM_IC_Init(timer, motor->llChannel, &motor->icInitStruct);
motor->dmaInitStruct.Direction = LL_DMA_DIRECTION_PERIPH_TO_MEMORY;
} else
#else
UNUSED(output);
#endif
{
LL_TIM_OC_DisablePreload(timer, motor->llChannel);
LL_TIM_OC_Init(timer, motor->llChannel, pOcInit);
LL_TIM_OC_EnablePreload(timer, motor->llChannel);
motor->dmaInitStruct.Direction = LL_DMA_DIRECTION_MEMORY_TO_PERIPH;
}
LL_EX_DMA_Init(motor->dmaRef, pDmaInit);
LL_EX_DMA_EnableIT_TC(motor->dmaRef);
}
FAST_CODE void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
{
UNUSED(motorCount);
/* If there is a dshot command loaded up, time it correctly with motor update*/
if (pwmDshotCommandIsQueued()) {
if (!pwmDshotCommandOutputIsEnabled(motorCount)) {
return;
}
}
for (int i = 0; i < dmaMotorTimerCount; i++) {
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
LL_EX_DMA_SetDataLength(dmaMotorTimers[i].dmaBurstRef, dmaMotorTimers[i].dmaBurstLength);
LL_EX_DMA_EnableStream(dmaMotorTimers[i].dmaBurstRef);
/* configure the DMA Burst Mode */
LL_TIM_ConfigDMABurst(dmaMotorTimers[i].timer, LL_TIM_DMABURST_BASEADDR_CCR1, LL_TIM_DMABURST_LENGTH_4TRANSFERS);
/* Enable the TIM DMA Request */
LL_TIM_EnableDMAReq_UPDATE(dmaMotorTimers[i].timer);
} else
#endif
{
/* Reset timer counter */
LL_TIM_SetCounter(dmaMotorTimers[i].timer, 0);
/* Enable channel DMA requests */
LL_EX_TIM_EnableIT(dmaMotorTimers[i].timer, dmaMotorTimers[i].timerDmaSources);
dmaMotorTimers[i].timerDmaSources = 0;
}
}
pwmDshotCommandQueueUpdate();
}
static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
{
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
#ifdef USE_DSHOT_TELEMETRY
uint32_t irqStart = micros();
if (motor->isInput) {
processInputIrq(motor);
} else
#endif
{
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
LL_EX_DMA_DisableStream(motor->timerHardware->dmaTimUPRef);
LL_TIM_DisableDMAReq_UPDATE(motor->timerHardware->tim);
} else
#endif
{
LL_EX_DMA_DisableStream(motor->dmaRef);
LL_EX_TIM_DisableIT(motor->timerHardware->tim, motor->timerDmaSource);
}
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
pwmDshotSetDirectionOutput(motor, false);
LL_EX_DMA_SetDataLength(motor->dmaRef, motor->dmaInputLen);
LL_EX_DMA_EnableStream(motor->dmaRef);
LL_EX_TIM_EnableIT(motor->timerHardware->tim, motor->timerDmaSource);
setDirectionMicros = micros() - irqStart;
}
#endif
}
DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
}
}
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{
#ifdef USE_DSHOT_TELEMETRY
#define OCINIT motor->ocInitStruct
#define DMAINIT motor->dmaInitStruct
#else
LL_TIM_OC_InitTypeDef ocInitStruct;
LL_DMA_InitTypeDef dmaInitStruct;
#define OCINIT ocInitStruct
#define DMAINIT dmaInitStruct
#endif
#if defined(USE_DMA_SPEC)
const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpecByTimer(timerHardware);
if (dmaSpec == NULL) {
return;
}
DMA_Stream_TypeDef *dmaRef = dmaSpec->ref;
uint32_t dmaChannel = dmaSpec->channel;
#else
DMA_Stream_TypeDef *dmaRef = timerHardware->dmaRef;
uint32_t dmaChannel = timerHardware->dmaChannel;
#endif
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
dmaRef = timerHardware->dmaTimUPRef;
}
#endif
if (dmaRef == NULL) {
return;
}
motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
#ifdef USE_DSHOT_TELEMETRY
motor->useProshot = (pwmProtocolType == PWM_TYPE_PROSHOT1000);
#endif
motor->timerHardware = timerHardware;
motor->dmaRef = dmaRef;
TIM_TypeDef *timer = timerHardware->tim;
const IO_t motorIO = IOGetByTag(timerHardware->tag);
const uint8_t timerIndex = getTimerIndex(timer);
const bool configureTimer = (timerIndex == dmaMotorTimerCount - 1);
uint8_t pupMode = 0;
#ifdef USE_DSHOT_TELEMETRY
if (!useDshotTelemetry) {
pupMode = (output & TIMER_OUTPUT_INVERTED) ? GPIO_PULLDOWN : GPIO_PULLUP;
} else
#endif
{
pupMode = (output & TIMER_OUTPUT_INVERTED) ? GPIO_PULLUP : GPIO_PULLDOWN;
}
IOConfigGPIOAF(motorIO, IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_VERY_HIGH, pupMode), timerHardware->alternateFunction);
if (configureTimer) {
LL_TIM_InitTypeDef init;
LL_TIM_StructInit(&init);
RCC_ClockCmd(timerRCC(timer), ENABLE);
LL_TIM_DisableCounter(timer);
init.Prescaler = (uint16_t)(lrintf((float) timerClock(timer) / getDshotHz(pwmProtocolType) + 0.01f) - 1);
init.Autoreload = (pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH) - 1;
init.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
init.RepetitionCounter = 0;
init.CounterMode = LL_TIM_COUNTERMODE_UP;
LL_TIM_Init(timer, &init);
}
LL_TIM_OC_StructInit(&OCINIT);
OCINIT.OCMode = LL_TIM_OCMODE_PWM1;
if (output & TIMER_OUTPUT_N_CHANNEL) {
OCINIT.OCNState = LL_TIM_OCSTATE_ENABLE;
OCINIT.OCNIdleState = LL_TIM_OCIDLESTATE_LOW;
OCINIT.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? LL_TIM_OCPOLARITY_LOW : LL_TIM_OCPOLARITY_HIGH;
} else {
OCINIT.OCState = LL_TIM_OCSTATE_ENABLE;
OCINIT.OCIdleState = LL_TIM_OCIDLESTATE_HIGH;
OCINIT.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? LL_TIM_OCPOLARITY_LOW : LL_TIM_OCPOLARITY_HIGH;
}
OCINIT.CompareValue = 0;
#ifdef USE_DSHOT_TELEMETRY
LL_TIM_IC_StructInit(&motor->icInitStruct);
motor->icInitStruct.ICPolarity = LL_TIM_IC_POLARITY_BOTHEDGE;
motor->icInitStruct.ICPrescaler = LL_TIM_ICPSC_DIV1;
motor->icInitStruct.ICFilter = 0; //2;
#endif
uint32_t channel;
switch (timerHardware->channel) {
case TIM_CHANNEL_1: channel = LL_TIM_CHANNEL_CH1; break;
case TIM_CHANNEL_2: channel = LL_TIM_CHANNEL_CH2; break;
case TIM_CHANNEL_3: channel = LL_TIM_CHANNEL_CH3; break;
case TIM_CHANNEL_4: channel = LL_TIM_CHANNEL_CH4; break;
}
motor->llChannel = channel;
motor->timer = &dmaMotorTimers[timerIndex];
motor->index = motorIndex;
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
motor->timer->dmaBurstRef = dmaRef;
#ifdef USE_DSHOT_TELEMETRY
motor->dmaRef = dmaRef;
#endif
} else
#endif
{
motor->timerDmaSource = timerDmaSource(timerHardware->channel);
motor->timer->timerDmaSources &= ~motor->timerDmaSource;
}
LL_EX_DMA_DisableStream(dmaRef);
LL_EX_DMA_DeInit(dmaRef);
LL_DMA_StructInit(&DMAINIT);
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
dmaInit(timerHardware->dmaTimUPIrqHandler, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim));
DMAINIT.Channel = dmaChannel;
DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->timer->dmaBurstBuffer;
DMAINIT.FIFOThreshold = LL_DMA_FIFOTHRESHOLD_FULL;
DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)&timerHardware->tim->DMAR;
} else
#endif
{
dmaInit(dmaGetIdentifier(dmaRef), OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
DMAINIT.Channel = dmaChannel;
DMAINIT.MemoryOrM2MDstAddress = (uint32_t)motor->dmaBuffer;
DMAINIT.FIFOThreshold = LL_DMA_FIFOTHRESHOLD_1_4;
DMAINIT.PeriphOrM2MSrcAddress = (uint32_t)timerChCCR(timerHardware);
}
DMAINIT.Direction = LL_DMA_DIRECTION_MEMORY_TO_PERIPH;
DMAINIT.FIFOMode = LL_DMA_FIFOMODE_ENABLE;
DMAINIT.MemBurst = LL_DMA_MBURST_SINGLE;
DMAINIT.PeriphBurst = LL_DMA_PBURST_SINGLE;
DMAINIT.NbData = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? PROSHOT_DMA_BUFFER_SIZE : DSHOT_DMA_BUFFER_SIZE;
DMAINIT.PeriphOrM2MSrcIncMode = LL_DMA_PERIPH_NOINCREMENT;
DMAINIT.MemoryOrM2MDstIncMode = LL_DMA_MEMORY_INCREMENT;
DMAINIT.PeriphOrM2MSrcDataSize = LL_DMA_PDATAALIGN_WORD;
DMAINIT.MemoryOrM2MDstDataSize = LL_DMA_MDATAALIGN_WORD;
DMAINIT.Mode = LL_DMA_MODE_NORMAL;
DMAINIT.Priority = LL_DMA_PRIORITY_HIGH;
LL_EX_DMA_Init(dmaRef, &DMAINIT);
LL_EX_DMA_EnableIT_TC(dmaRef);
motor->dmaRef = dmaRef;
#ifdef USE_DSHOT_TELEMETRY
motor->dmaInputLen = motor->useProshot ? PROSHOT_TELEMETRY_INPUT_LEN : DSHOT_TELEMETRY_INPUT_LEN;
pwmDshotSetDirectionOutput(motor, true);
#else
pwmDshotSetDirectionOutput(motor, true, &OCINIT, &DMAINIT);
#endif
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
dmaSetHandler(timerHardware->dmaTimUPIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(2, 1), motor->index);
} else
#endif
{
dmaSetHandler(dmaGetIdentifier(dmaRef), motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(2, 1), motor->index);
}
LL_TIM_OC_Init(timer, channel, &OCINIT);
LL_TIM_OC_EnablePreload(timer, channel);
LL_TIM_OC_DisableFast(timer, channel);
LL_TIM_EnableCounter(timer);
if (output & TIMER_OUTPUT_N_CHANNEL) {
LL_EX_TIM_CC_EnableNChannel(timer, channel);
} else {
LL_TIM_CC_EnableChannel(timer, channel);
}
if (configureTimer) {
LL_TIM_EnableAllOutputs(timer);
LL_TIM_EnableARRPreload(timer);
LL_TIM_EnableCounter(timer);
}
motor->configured = true;
}
#endif
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