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ardupilot/libraries/AP_HAL_ChibiOS/hwdef/iomcu-dshot/hwdef.dat

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AP_HAL_ChibiOS: add support for DShot on IOMCU set timer counter size to be a byte wide use HAL_DSHOT_ENABLED instead of DISABLE_DSHOT build iomcu-dshot from existing iomcu correct defines for DMAR size on iomcu allow iomcu dshot rate to be configured from FMU correct DMA allocation for dshot on iomcu allow debug builds on iofirmware ensure dshot is enabled on iomcu dshot support proper iomcu dshot output thread triggered by FMU allow selective disablement of serial LEDs and passthrough disable serial LEDs and passthrough on iomcu-dshot propagate ESC telemetry to iomcu dshot_send_groups() for iomcu remove use of ICU on iomcu for dshot. only allocate possible DMA channels rename serial passthrough and dshot defines update dshot docs resize dshot iomcu main stack to minimum correct dshot prescaler usage and bit_width_mul calculation use ChibiOS in tickless mode on iomcu-dshot so that virtual timers can be used propagate dshot commands to iomcu passthrough oneshot125 to iomcu
2022-08-25 02:36:10 -03:00
# hw definition file for processing by chibios_pins.py
include ../iomcu/hwdef.dat
undef AP_FASTBOOT_ENABLED AP_BOOTLOADER_FLASHING_ENABLED
undef HAL_DSHOT_ENABLED
# PPM uses a DMA channel that is required for TIM2, and no remapping of PA8 is possible
undef PA8
undef STM32_ICU_USE_TIM1 RCIN_ICU_TIMER STM32_RCIN_DMA_STREAM HAL_USE_ICU
undef PORT_INT_REQUIRED_STACK MAIN_STACK
undef CH_CFG_ST_TIMEDELTA CH_CFG_ST_FREQUENCY
AP_HAL_ChibiOS: ensure shared DMA works in IOMCU enable TIM4 in shared mode on IOMCU for dshot stop the PWM peripheral in rcout DMA swapping on IOMCU to prevent UART corruption provide debugging options on iomcu dshot support unshared DMA with iomcu dshot optimize rcout on iomcu tune iomcu stack for 8 channels
2023-06-01 12:07:26 -03:00
undef AP_HAL_SHARED_DMA_ENABLED
AP_HAL_ChibiOS: add support for DShot on IOMCU set timer counter size to be a byte wide use HAL_DSHOT_ENABLED instead of DISABLE_DSHOT build iomcu-dshot from existing iomcu correct defines for DMAR size on iomcu allow iomcu dshot rate to be configured from FMU correct DMA allocation for dshot on iomcu allow debug builds on iofirmware ensure dshot is enabled on iomcu dshot support proper iomcu dshot output thread triggered by FMU allow selective disablement of serial LEDs and passthrough disable serial LEDs and passthrough on iomcu-dshot propagate ESC telemetry to iomcu dshot_send_groups() for iomcu remove use of ICU on iomcu for dshot. only allocate possible DMA channels rename serial passthrough and dshot defines update dshot docs resize dshot iomcu main stack to minimum correct dshot prescaler usage and bit_width_mul calculation use ChibiOS in tickless mode on iomcu-dshot so that virtual timers can be used propagate dshot commands to iomcu passthrough oneshot125 to iomcu
2022-08-25 02:36:10 -03:00
define HAL_NO_LED_THREAD 1
# TIM2_UP required for PWM1/2
define STM32_TIM_TIM2_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
define STM32_TIM_TIM2_UP_DMA_CHAN 1
AP_HAL_ChibiOS: ensure shared DMA works in IOMCU enable TIM4 in shared mode on IOMCU for dshot stop the PWM peripheral in rcout DMA swapping on IOMCU to prevent UART corruption provide debugging options on iomcu dshot support unshared DMA with iomcu dshot optimize rcout on iomcu tune iomcu stack for 8 channels
2023-06-01 12:07:26 -03:00
# TIM4_UP (PWM 3/4) cannot be used with sharin as channels used by high speed USART2 RX/TX
define AP_HAL_SHARED_DMA_ENABLED 1
define STM32_TIM_TIM4_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
define STM32_TIM_TIM4_UP_DMA_CHAN 1
define SHARED_DMA_MASK (1U<<STM32_TIM_TIM4_UP_DMA_STREAM)
AP_HAL_ChibiOS: add support for DShot on IOMCU set timer counter size to be a byte wide use HAL_DSHOT_ENABLED instead of DISABLE_DSHOT build iomcu-dshot from existing iomcu correct defines for DMAR size on iomcu allow iomcu dshot rate to be configured from FMU correct DMA allocation for dshot on iomcu allow debug builds on iofirmware ensure dshot is enabled on iomcu dshot support proper iomcu dshot output thread triggered by FMU allow selective disablement of serial LEDs and passthrough disable serial LEDs and passthrough on iomcu-dshot propagate ESC telemetry to iomcu dshot_send_groups() for iomcu remove use of ICU on iomcu for dshot. only allocate possible DMA channels rename serial passthrough and dshot defines update dshot docs resize dshot iomcu main stack to minimum correct dshot prescaler usage and bit_width_mul calculation use ChibiOS in tickless mode on iomcu-dshot so that virtual timers can be used propagate dshot commands to iomcu passthrough oneshot125 to iomcu
2022-08-25 02:36:10 -03:00
# TIM3_UP required for PWM5-8
define STM32_TIM_TIM3_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
define STM32_TIM_TIM3_UP_DMA_CHAN 1
define NO_FASTBOOT
define HAL_WITH_DSP FALSE
define HAL_DSHOT_ENABLED TRUE
define HAL_SERIALLED_ENABLED FALSE
# Tickless mode is required in order for the virtual timers used by dshot to work correctly
STM32_ST_USE_TIMER 15
define CH_CFG_ST_RESOLUTION 16
define CH_CFG_ST_TIMEDELTA 2
define CH_CFG_ST_FREQUENCY 1000000
# ChibiOS already correctly sets stack sizes and considers 64 extra as conservative
define PORT_INT_REQUIRED_STACK 64
# "main" stack is only used for exceptions and ISR, but they can be nested
AP_HAL_ChibiOS: ensure shared DMA works in IOMCU enable TIM4 in shared mode on IOMCU for dshot stop the PWM peripheral in rcout DMA swapping on IOMCU to prevent UART corruption provide debugging options on iomcu dshot support unshared DMA with iomcu dshot optimize rcout on iomcu tune iomcu stack for 8 channels
2023-06-01 12:07:26 -03:00
MAIN_STACK 0x180
# defines to allow the loop timing to be observed with a Saleae
#define IOMCU_LOOP_TIMING_DEBUG 1
#undef PB0 PB1
#PB0 PINIO1 OUTPUT GPIO(107) LOW
#PB1 PINIO2 OUTPUT GPIO(108) LOW