Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[Sponsored by ARK] Bidirectional DShot #23863

Open
wants to merge 3 commits into
base: main
Choose a base branch
from
+1,072 −182
Open

[Sponsored by ARK] Bidirectional DShot #23863

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
16dc6d4
Bidirectional DShot
dakejahl Oct 29, 2024
c4b7381
f4/f1 support, not supported
dakejahl Oct 29, 2024
4e672d9
fix f1 build target
dakejahl Oct 29, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 0 additions & 3 deletions platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/io_timer.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -147,9 +147,6 @@ __EXPORT int io_timer_free_channel(unsigned channel);
__EXPORT int io_timer_get_channel_mode(unsigned channel);
__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
__EXPORT extern void io_timer_trigger(void);
__EXPORT void io_timer_update_dma_req(uint8_t timer, bool enable);

__EXPORT extern int io_timer_set_dshot_mode(uint8_t timer, unsigned dshot_pwm_rate, uint8_t dma_burst_length);

/**
* Returns the pin configuration for a specific channel, to be used as GPIO output.
Expand Down
1 change: 1 addition & 0 deletions platforms/nuttx/src/px4/stm/stm32_common/dshot/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,4 +34,5 @@
px4_add_library(arch_dshot
dshot.c
)
# target_compile_options(arch_dshot PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -DDEBUG_BUILD)
target_compile_options(arch_dshot PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
780 changes: 668 additions & 112 deletions platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
View file
Open in desktop

Large diffs are not rendered by default.

5 changes: 3 additions & 2 deletions platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/dshot.h
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2024 PX4 Development Team. All rights reserved.
* Author: Igor Misic <[email protected]>
*
* Redistribution and use in source and binary forms, with or without
Expand Down Expand Up @@ -58,5 +58,6 @@
*/
typedef struct dshot_conf_t {
uint32_t dma_base;
uint32_t dmamap;
uint32_t dma_map_up;
uint32_t dma_map_ch[4];
} dshot_conf_t;
10 changes: 8 additions & 2 deletions platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012, 2017 PX4 Development Team. All rights reserved.
* Copyright (C) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
Expand Down Expand Up @@ -80,6 +80,8 @@ typedef enum io_timer_channel_mode_t {
IOTimerChanMode_LED = 7,
IOTimerChanMode_PPS = 8,
IOTimerChanMode_Other = 9,
IOTimerChanMode_DshotInverted = 10,
IOTimerChanMode_CaptureDMA = 11,
IOTimerChanModeSize
} io_timer_channel_mode_t;

Expand Down Expand Up @@ -158,7 +160,12 @@ __EXPORT int io_timer_unallocate_channel(unsigned channel);
__EXPORT int io_timer_get_channel_mode(unsigned channel);
__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
__EXPORT extern void io_timer_trigger(unsigned channels_mask);

__EXPORT void io_timer_update_dma_req(uint8_t timer, bool enable);
__EXPORT int io_timer_set_dshot_burst_mode(uint8_t timer, unsigned dshot_pwm_rate, uint8_t dma_burst_length);

__EXPORT void io_timer_capture_dma_req(uint8_t timer, uint8_t timer_channel_index, bool enable);
__EXPORT int io_timer_set_dshot_capture_mode(uint8_t timer, uint8_t timer_channel_index, unsigned dshot_pwm_freq);

/**
* Reserve a timer
Expand All @@ -168,7 +175,6 @@ __EXPORT int io_timer_allocate_timer(unsigned timer, io_timer_channel_mode_t mod

__EXPORT int io_timer_unallocate_timer(unsigned timer);

__EXPORT extern int io_timer_set_dshot_mode(uint8_t timer, unsigned dshot_pwm_rate, uint8_t dma_burst_length);

/**
* Returns the pin configuration for a specific channel, to be used as GPIO output.
Expand Down
11 changes: 6 additions & 5 deletions platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer_hw_description.h
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
* Copyright (C) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
Expand Down Expand Up @@ -103,7 +103,7 @@ static inline constexpr timer_io_channels_t initIOTimerChannelOutputClear(const
}


static inline constexpr io_timers_t initIOTimer(Timer::Timer timer, DMA dshot_dma = {})
static inline constexpr io_timers_t initIOTimer(Timer::Timer timer, DMA dma = {})
{
bool nuttx_config_timer_enabled = false;
io_timers_t ret{};
Expand Down Expand Up @@ -268,9 +268,10 @@ static inline constexpr io_timers_t initIOTimer(Timer::Timer timer, DMA dshot_dm
constexpr_assert(!nuttx_config_timer_enabled, "IO Timer requires NuttX timer config to be disabled (STM32_TIMx)");

// DShot
if (dshot_dma.index != DMA::Invalid) {
ret.dshot.dma_base = getDMABaseRegister(dshot_dma);
ret.dshot.dmamap = getTimerUpdateDMAMap(timer, dshot_dma);
if (dma.index != DMA::Invalid) {
ret.dshot.dma_base = getDMABaseRegister(dma);
ret.dshot.dma_map_up = getTimerUpdateDMAMap(timer, dma);
getTimerChannelDMAMap(timer, dma, ret.dshot.dma_map_ch);
}

return ret;
Expand Down
6 changes: 4 additions & 2 deletions platforms/nuttx/src/px4/stm/stm32_common/io_pins/input_capture.c
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012-2016 PX4 Development Team. All rights reserved.
* Copyright (C) 2024 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
Expand Down Expand Up @@ -365,8 +365,10 @@ int up_input_capture_set_trigger(unsigned channel, input_capture_edge edge)
rv = -ENXIO;

/* Any pins in capture mode */
int mode = io_timer_get_channel_mode(channel);

if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
if (mode == IOTimerChanMode_Capture ||
mode == IOTimerChanMode_CaptureDMA) {

uint16_t edge_bits = 0xffff;

Expand Down
Loading
Loading