ardupilot/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp

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/*
* This file is free software: you can redistribute it and/or modify it
* 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.
*
* This file is distributed in the hope that it 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 program. If not, see <http://www.gnu.org/licenses/>.
*
* Bi-directional dshot based on Betaflight, code by Andy Piper and Siddharth Bharat Purohit
*/
#include <hal.h>
#include "RCOutput.h"
#include <AP_Math/AP_Math.h>
#include "hwdef/common/stm32_util.h"
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
#include <AP_BoardConfig/AP_BoardConfig.h>
#if HAL_WITH_IO_MCU
#include <AP_IOMCU/AP_IOMCU.h>
extern AP_IOMCU iomcu;
#endif
#ifdef HAL_WITH_BIDIR_DSHOT
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
#if defined(IOMCU_FW)
#undef INTERNAL_ERROR
#define INTERNAL_ERROR(x) do {} while (0)
#endif
using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
#if RCOU_DSHOT_TIMING_DEBUG
#define DEBUG_CHANNEL 1
#define TOGGLE_PIN_CH_DEBUG(pin, channel) do { if (channel == DEBUG_CHANNEL) palToggleLine(HAL_GPIO_LINE_GPIO ## pin); } while (0)
#else
#define TOGGLE_PIN_CH_DEBUG(pin, channel) do {} while (0)
#endif
/*
* enable bi-directional telemetry request for a mask of channels. This is used
* with DShot to get telemetry feedback
*/
void RCOutput::set_bidir_dshot_mask(uint32_t mask)
{
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
#if HAL_WITH_IO_MCU
const uint32_t iomcu_mask = ((1U<<chan_offset)-1);
if (iomcu_dshot && (mask & iomcu_mask)) {
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
iomcu.set_bidir_dshot_mask(mask & iomcu_mask);
}
#endif
const uint32_t local_mask = (mask >> chan_offset) & ~_bdshot.disabled_mask;
_bdshot.mask = local_mask;
// we now need to reconfigure the DMA channels since they are affected by the value of the mask
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i];
if ((group.ch_mask & local_mask) == 0) {
// this group is not affected
continue;
}
set_group_mode(group);
}
}
bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
{
// check if already allocated
if (group.has_ic_dma()) {
return true;
}
// allocate input capture DMA handles
for (uint8_t i = 0; i < 4; i++) {
if (!group.is_chan_enabled(i) ||
!group.dma_ch[i].have_dma || !(_bdshot.mask & (1 << group.chan[i]))) {
continue;
}
pwmmode_t mode = group.pwm_cfg.channels[i].mode;
if (mode == PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW ||
mode == PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH) {
// Complementary channels don't support input capture
// Return error
return false;
}
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
if (!group.bdshot.ic_dma_handle[i]) {
// share up channel if required
if (group.dma_ch[i].stream_id == group.dma_up_stream_id) {
group.bdshot.ic_dma_handle[i] = group.dma_handle;
} else {
group.bdshot.ic_dma_handle[i] = new Shared_DMA(group.dma_ch[i].stream_id, SHARED_DMA_NONE,
FUNCTOR_BIND_MEMBER(&RCOutput::bdshot_ic_dma_allocate, void, Shared_DMA *),
FUNCTOR_BIND_MEMBER(&RCOutput::bdshot_ic_dma_deallocate, void, Shared_DMA *));
}
if (!group.bdshot.ic_dma_handle[i]) {
goto ic_dma_fail;
}
}
}
// We might need to do sharing of timers for telemetry feedback
// due to lack of available DMA channels
for (uint8_t i = 0; i < 4; i++) {
// we must pull all the allocated channels high to prevent them going low
// when the pwm peripheral is stopped
if (group.chan[i] != CHAN_DISABLED && _bdshot.mask & group.ch_mask) {
// bi-directional dshot requires less than MID2 speed and PUSHPULL in order to avoid noise on the line
// when switching from output to input
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
#if defined(STM32F1)
// on F103 the line mode has to be managed manually
// PAL_MODE_STM32_ALTERNATE_PUSHPULL is 50Mhz, similar to the medieum speed on other MCUs
palSetLineMode(group.pal_lines[i], PAL_MODE_STM32_ALTERNATE_PUSHPULL);
#else
palSetLineMode(group.pal_lines[i], PAL_MODE_ALTERNATE(group.alt_functions[i])
| PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_PUPDR_PULLUP |
#ifdef PAL_STM32_OSPEED_MID1
PAL_STM32_OSPEED_MID1
#elif defined(PAL_STM32_OSPEED_MEDIUM)
PAL_STM32_OSPEED_MEDIUM
#else
#error "Cannot set bdshot line speed"
#endif
);
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
#endif
}
if (!group.is_chan_enabled(i) || !(_bdshot.mask & (1 << group.chan[i]))) {
continue;
}
uint8_t curr_chan = i;
if (group.bdshot.ic_dma_handle[i]) {
// we are all good just set and continue
group.bdshot.telem_tim_ch[i] = curr_chan;
} else {
// I guess we have to share, but only channels 1 & 2 or 3 & 4
if (curr_chan % 2 == 0) {
curr_chan = curr_chan + 1;
} else {
curr_chan = curr_chan - 1;
}
if (!group.dma_ch[curr_chan].have_dma) {
// We can't find a DMA channel to use so
// return error
goto ic_dma_fail;
}
if (group.bdshot.ic_dma_handle[i]) {
INTERNAL_ERROR(AP_InternalError::error_t::dma_fail);
goto ic_dma_fail;
}
// share up channel if required
if (group.dma_ch[curr_chan].stream_id == group.dma_up_stream_id) {
group.bdshot.ic_dma_handle[i] = group.dma_handle;
} else {
// we can use the next channel
group.bdshot.ic_dma_handle[i] = new Shared_DMA(group.dma_ch[curr_chan].stream_id, SHARED_DMA_NONE,
FUNCTOR_BIND_MEMBER(&RCOutput::bdshot_ic_dma_allocate, void, Shared_DMA *),
FUNCTOR_BIND_MEMBER(&RCOutput::bdshot_ic_dma_deallocate, void, Shared_DMA *));
}
if (!group.bdshot.ic_dma_handle[i]) {
goto ic_dma_fail;
}
group.bdshot.telem_tim_ch[i] = curr_chan;
group.dma_ch[i] = group.dma_ch[curr_chan];
}
}
// now allocate the starting channel
for (uint8_t i = 0; i < 4; i++) {
if (group.chan[i] != CHAN_DISABLED && group.bdshot.ic_dma_handle[i] != nullptr) {
group.bdshot.curr_telem_chan = i;
break;
}
}
return true;
ic_dma_fail:
for (uint8_t i = 0; i < 4; i++) {
if (group.bdshot.ic_dma_handle[i] != group.dma_handle) {
delete group.bdshot.ic_dma_handle[i];
}
group.bdshot.ic_dma_handle[i] = nullptr;
}
return false;
}
/*
allocate DMA channel
*/
void RCOutput::bdshot_ic_dma_allocate(Shared_DMA *ctx)
{
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i];
for (uint8_t icuch = 0; icuch < 4; icuch++) {
if (group.bdshot.ic_dma_handle[icuch] == ctx && group.bdshot.ic_dma[icuch] == nullptr) {
chSysLock();
group.bdshot.ic_dma[icuch] = dmaStreamAllocI(group.dma_ch[icuch].stream_id, 10, bdshot_dma_ic_irq_callback, &group);
#if STM32_DMA_SUPPORTS_DMAMUX
if (group.bdshot.ic_dma[icuch]) {
dmaSetRequestSource(group.bdshot.ic_dma[icuch], group.dma_ch[icuch].channel);
}
#endif
chSysUnlock();
}
}
}
}
/*
deallocate DMA channel
*/
void RCOutput::bdshot_ic_dma_deallocate(Shared_DMA *ctx)
{
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i];
for (uint8_t icuch = 0; icuch < 4; icuch++) {
chSysLock();
if (group.bdshot.ic_dma_handle[icuch] == ctx && group.bdshot.ic_dma[icuch] != nullptr) {
dmaStreamFreeI(group.bdshot.ic_dma[icuch]);
group.bdshot.ic_dma[icuch] = nullptr;
}
chSysUnlock();
}
}
}
// setup bdshot for sending and receiving the next pulse
void RCOutput::bdshot_prepare_for_next_pulse(pwm_group& group)
{
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
// assume that we won't be able to get the input capture lock
group.bdshot.enabled = false;
uint32_t active_channels = group.ch_mask & group.en_mask;
// now grab the input capture lock if we are able, we can only enable bi-dir on a group basis
if (((_bdshot.mask & active_channels) == active_channels) && group.has_ic()) {
if (group.has_shared_ic_up_dma()) {
// no locking required
group.bdshot.enabled = true;
} else {
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
osalDbgAssert(!group.bdshot.curr_ic_dma_handle, "IC DMA handle has not been released");
group.bdshot.curr_ic_dma_handle = group.bdshot.ic_dma_handle[group.bdshot.curr_telem_chan];
#ifdef HAL_TIM_UP_SHARED
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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osalDbgAssert(group.shared_up_dma || !group.bdshot.curr_ic_dma_handle->is_locked(), "IC DMA handle is already locked");
#else
osalDbgAssert(!group.bdshot.curr_ic_dma_handle->is_locked(), "IC DMA handle is already locked");
#endif
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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group.bdshot.curr_ic_dma_handle->lock();
group.bdshot.enabled = true;
}
}
// if the last transaction returned telemetry, decode it
if (group.dshot_state == DshotState::RECV_COMPLETE) {
uint8_t chan = group.chan[group.bdshot.prev_telem_chan];
uint32_t now = AP_HAL::millis();
if (bdshot_decode_dshot_telemetry(group, group.bdshot.prev_telem_chan)) {
_bdshot.erpm_clean_frames[chan]++;
_active_escs_mask |= (1<<chan); // we know the ESC is functional at this point
} else {
_bdshot.erpm_errors[chan]++;
}
// reset statistics periodically
if (now - _bdshot.erpm_last_stats_ms[chan] > 5000) {
_bdshot.erpm_clean_frames[chan] = 0;
_bdshot.erpm_errors[chan] = 0;
_bdshot.erpm_last_stats_ms[chan] = now;
}
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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} else if (group.dshot_state == DshotState::RECV_FAILED) {
_bdshot.erpm_errors[group.bdshot.curr_telem_chan]++;
}
if (group.bdshot.enabled) {
if (group.pwm_started) {
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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bdshot_reset_pwm(group, group.bdshot.prev_telem_chan);
}
else {
pwmStart(group.pwm_drv, &group.pwm_cfg);
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
group.pwm_started = true;
}
// we can be more precise for capture timer
group.bdshot.telempsc = (uint16_t)(lrintf(((float)group.pwm_drv->clock / bdshot_get_output_rate_hz(group.current_mode) + 0.01f)/TELEM_IC_SAMPLE) - 1);
}
}
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
// reset pwm driver to output mode without resetting the clock or the peripheral
// the code here is the equivalent of pwmStart()/pwmStop()
void RCOutput::bdshot_reset_pwm(pwm_group& group, uint8_t telem_channel)
{
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
#if defined(STM32F1)
bdshot_reset_pwm_f1(group, telem_channel);
#else
// on more capable MCUs we can do something very simple
pwmStop(group.pwm_drv);
pwmStart(group.pwm_drv, &group.pwm_cfg);
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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#endif
}
// see https://github.com/betaflight/betaflight/pull/8554#issuecomment-512507625
// called from the interrupt
2021-04-01 08:19:16 -03:00
#pragma GCC push_options
#pragma GCC optimize("O2")
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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#if !defined(STM32F1)
void RCOutput::bdshot_receive_pulses_DMAR(pwm_group* group)
{
// make sure the transaction finishes or times out, this function takes a little time to run so the most
// accurate timing is from the beginning. the pulse time is slightly longer than we need so an extra 10U
// should be plenty
chVTSetI(&group->dma_timeout, chTimeUS2I(group->dshot_pulse_send_time_us + 30U + 10U),
bdshot_finish_dshot_gcr_transaction, group);
group->pwm_drv->tim->CR1 = 0;
// Configure Timer
group->pwm_drv->tim->SR = 0;
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
group->pwm_drv->tim->CCER = 0;
group->pwm_drv->tim->CCMR1 = 0;
group->pwm_drv->tim->CCMR2 = 0;
group->pwm_drv->tim->DIER = 0;
group->pwm_drv->tim->CR2 = 0;
group->pwm_drv->tim->PSC = group->bdshot.telempsc;
group->dshot_state = DshotState::RECV_START;
//TOGGLE_PIN_CH_DEBUG(54, curr_ch);
group->pwm_drv->tim->ARR = 0xFFFF; // count forever
group->pwm_drv->tim->CNT = 0;
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
uint8_t curr_ch = group->bdshot.curr_telem_chan;
// Initialise ICU channels
bdshot_config_icu_dshot(group->pwm_drv->tim, curr_ch, group->bdshot.telem_tim_ch[curr_ch]);
// do a little DMA dance when sharing with UP
#if STM32_DMA_SUPPORTS_DMAMUX
if (group->has_shared_ic_up_dma()) {
dmaSetRequestSource(group->dma, group->dma_ch[curr_ch].channel);
}
#endif
const stm32_dma_stream_t *ic_dma =
group->has_shared_ic_up_dma() ? group->dma : group->bdshot.ic_dma[curr_ch];
// Configure DMA
dmaStreamSetPeripheral(ic_dma, &(group->pwm_drv->tim->DMAR));
dmaStreamSetMemory0(ic_dma, group->dma_buffer);
dmaStreamSetTransactionSize(ic_dma, GCR_TELEMETRY_BIT_LEN);
#if STM32_DMA_ADVANCED
dmaStreamSetFIFO(ic_dma, STM32_DMA_FCR_DMDIS | STM32_DMA_FCR_FTH_FULL);
#endif
dmaStreamSetMode(ic_dma,
STM32_DMA_CR_CHSEL(group->dma_ch[curr_ch].channel) |
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
STM32_DMA_CR_DIR_P2M |
STM32_DMA_CR_PSIZE_WORD |
STM32_DMA_CR_MSIZE_WORD |
STM32_DMA_CR_MINC | STM32_DMA_CR_PL(3) |
STM32_DMA_CR_TEIE | STM32_DMA_CR_TCIE);
// setup for transfers. 0x0D is the register
// address offset of the CCR registers in the timer peripheral
const uint8_t ccr_ofs = offsetof(stm32_tim_t, CCR)/4 + group->bdshot.telem_tim_ch[curr_ch];
group->pwm_drv->tim->DCR = STM32_TIM_DCR_DBA(ccr_ofs) | STM32_TIM_DCR_DBL(0);
// Start Timer
group->pwm_drv->tim->EGR |= STM32_TIM_EGR_UG;
group->pwm_drv->tim->SR = 0;
group->pwm_drv->tim->CR1 = TIM_CR1_ARPE | STM32_TIM_CR1_URS | STM32_TIM_CR1_UDIS | STM32_TIM_CR1_CEN;
dmaStreamEnable(ic_dma);
}
void RCOutput::bdshot_config_icu_dshot(stm32_tim_t* TIMx, uint8_t chan, uint8_t ccr_ch)
{
switch(ccr_ch) {
case 0: {
/* Disable the Channel 1: Reset the CC1E Bit */
TIMx->CCER &= (uint32_t)~TIM_CCER_CC1E;
const uint32_t CCMR1_FILT = TIM_CCMR1_IC1F_1; // 4 samples per output transition
// Select the Input and set the filter and the prescaler value
if (chan == 0) {
MODIFY_REG(TIMx->CCMR1,
(TIM_CCMR1_CC1S | TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC),
(TIM_CCMR1_CC1S_0 | CCMR1_FILT));
} else {
MODIFY_REG(TIMx->CCMR1,
(TIM_CCMR1_CC1S | TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC),
(TIM_CCMR1_CC1S_1 | CCMR1_FILT));
}
// Select the Polarity as Both Edge and set the CC1E Bit
MODIFY_REG(TIMx->CCER,
(TIM_CCER_CC1P | TIM_CCER_CC1NP | TIM_CCER_CC1E),
(TIM_CCER_CC1P | TIM_CCER_CC1NP | TIM_CCER_CC1E));
MODIFY_REG(TIMx->DIER, TIM_DIER_CC1DE, TIM_DIER_CC1DE);
break;
}
case 1: {
// Disable the Channel 2: Reset the CC2E Bit
TIMx->CCER &= (uint32_t)~TIM_CCER_CC2E;
const uint32_t CCMR1_FILT = TIM_CCMR1_IC2F_1;
// Select the Input and set the filter and the prescaler value
if (chan == 0) {
MODIFY_REG(TIMx->CCMR1,
(TIM_CCMR1_CC2S | TIM_CCMR1_IC2F | TIM_CCMR1_IC2PSC),
(TIM_CCMR1_CC2S_1 | CCMR1_FILT));
} else {
MODIFY_REG(TIMx->CCMR1,
(TIM_CCMR1_CC2S | TIM_CCMR1_IC2F | TIM_CCMR1_IC2PSC),
(TIM_CCMR1_CC2S_0 | CCMR1_FILT));
}
// Select the Polarity as Both Edge and set the CC2E Bit
MODIFY_REG(TIMx->CCER,
TIM_CCER_CC2P | TIM_CCER_CC2NP | TIM_CCER_CC2E,
(TIM_CCER_CC2P | TIM_CCER_CC2NP | TIM_CCER_CC2E));
MODIFY_REG(TIMx->DIER, TIM_DIER_CC2DE, TIM_DIER_CC2DE);
break;
}
case 2: {
// Disable the Channel 3: Reset the CC3E Bit
TIMx->CCER &= (uint32_t)~TIM_CCER_CC3E;
const uint32_t CCMR2_FILT = TIM_CCMR2_IC3F_1;
// Select the Input and set the filter and the prescaler value
if (chan == 2) {
MODIFY_REG(TIMx->CCMR2,
(TIM_CCMR2_CC3S | TIM_CCMR2_IC3F | TIM_CCMR2_IC3PSC),
(TIM_CCMR2_CC3S_0 | CCMR2_FILT));
} else {
MODIFY_REG(TIMx->CCMR2,
(TIM_CCMR2_CC3S | TIM_CCMR2_IC3F | TIM_CCMR2_IC3PSC),
(TIM_CCMR2_CC3S_1 | CCMR2_FILT));
}
// Select the Polarity as Both Edge and set the CC3E Bit
MODIFY_REG(TIMx->CCER,
(TIM_CCER_CC3P | TIM_CCER_CC3NP | TIM_CCER_CC3E),
(TIM_CCER_CC3P | TIM_CCER_CC3NP | TIM_CCER_CC3E));
MODIFY_REG(TIMx->DIER, TIM_DIER_CC3DE, TIM_DIER_CC3DE);
break;
}
case 3: {
// Disable the Channel 4: Reset the CC4E Bit
TIMx->CCER &= (uint32_t)~TIM_CCER_CC4E;
const uint32_t CCMR2_FILT = TIM_CCMR2_IC4F_1;
// Select the Input and set the filter and the prescaler value
if (chan == 2) {
MODIFY_REG(TIMx->CCMR2,
(TIM_CCMR2_CC4S | TIM_CCMR2_IC4F | TIM_CCMR2_IC4PSC),
(TIM_CCMR2_CC4S_1 | CCMR2_FILT));
} else {
MODIFY_REG(TIMx->CCMR2,
(TIM_CCMR2_CC4S | TIM_CCMR2_IC4F | TIM_CCMR2_IC4PSC),
(TIM_CCMR2_CC4S_0 | CCMR2_FILT));
}
// Select the Polarity as Both Edge and set the CC4E Bit
MODIFY_REG(TIMx->CCER,
(TIM_CCER_CC4P | TIM_CCER_CC4NP | TIM_CCER_CC4E),
(TIM_CCER_CC4P | TIM_CCER_CC4NP | TIM_CCER_CC4E));
MODIFY_REG(TIMx->DIER, TIM_DIER_CC4DE, TIM_DIER_CC4DE);
break;
}
default:
break;
}
}
#endif // !defined(STM32F1)
/*
unlock DMA channel after a bi-directional dshot transaction completes
*/
__RAMFUNC__ void RCOutput::bdshot_finish_dshot_gcr_transaction(virtual_timer_t* vt, void *p)
{
pwm_group *group = (pwm_group *)p;
chSysLockFromISR();
#ifdef HAL_GPIO_LINE_GPIO56
TOGGLE_PIN_DEBUG(56);
#endif
uint8_t curr_telem_chan = group->bdshot.curr_telem_chan;
// the DMA buffer is either the regular outbound one because we are sharing UP and CH
// or the input channel buffer
const stm32_dma_stream_t *dma =
group->has_shared_ic_up_dma() ? group->dma : group->bdshot.ic_dma[curr_telem_chan];
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
osalDbgAssert(dma, "No DMA channel");
// record the transaction size before the stream is released
dmaStreamDisable(dma);
group->bdshot.dma_tx_size = MIN(uint16_t(GCR_TELEMETRY_BIT_LEN),
GCR_TELEMETRY_BIT_LEN - dmaStreamGetTransactionSize(dma));
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
stm32_cacheBufferInvalidate(group->dma_buffer, group->bdshot.dma_tx_size);
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
memcpy(group->bdshot.dma_buffer_copy, group->dma_buffer, sizeof(dmar_uint_t) * group->bdshot.dma_tx_size);
#ifdef HAL_TIM_UP_SHARED
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
// although it should be possible to start the next DMAR transaction concurrently with receiving
// telemetry, in practice it seems to interfere with the DMA engine
if (group->shared_up_dma && group->bdshot.enabled) {
// next dshot pulse can go out now
chEvtSignalI(group->dshot_waiter, DSHOT_CASCADE);
}
#endif
// if using input capture DMA and sharing the UP and CH channels then clean up
// by assigning the source back to UP
#if STM32_DMA_SUPPORTS_DMAMUX
if (group->has_shared_ic_up_dma()) {
dmaSetRequestSource(group->dma, group->dma_up_channel);
}
#endif
group->bdshot.prev_telem_chan = group->bdshot.curr_telem_chan;
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
// rotate to the next input channel, we have to rotate even on failure otherwise
// we will not get data from active channels
group->bdshot.curr_telem_chan = bdshot_find_next_ic_channel(*group);
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
// dshot commands are issued without a response coming back, this allows
// us to handle the next packet correctly without it looking like a failure
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
if (group->bdshot.dma_tx_size > 0) {
group->dshot_state = DshotState::RECV_COMPLETE;
} else {
group->dshot_state = DshotState::RECV_FAILED;
}
// tell the waiting process we've done the DMA
chEvtSignalI(group->dshot_waiter, group->dshot_event_mask);
#ifdef HAL_GPIO_LINE_GPIO56
TOGGLE_PIN_DEBUG(56);
#endif
chSysUnlockFromISR();
}
/*
decode returned data from bi-directional dshot
*/
bool RCOutput::bdshot_decode_dshot_telemetry(pwm_group& group, uint8_t chan)
{
if (!group.is_chan_enabled(chan)) {
return true;
}
// evaluate dshot telemetry
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
#if defined(STM32F1)
const bool reversed = (group.bdshot.telem_tim_ch[chan] & 1U) == 0;
group.bdshot.erpm[chan] = bdshot_decode_telemetry_packet_f1(group.bdshot.dma_buffer_copy, group.bdshot.dma_tx_size, reversed);
#else
group.bdshot.erpm[chan] = bdshot_decode_telemetry_packet(group.bdshot.dma_buffer_copy, group.bdshot.dma_tx_size);
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
#endif
group.dshot_state = DshotState::IDLE;
#if RCOU_DSHOT_TIMING_DEBUG
// Record Stats
if (group.bdshot.erpm[chan] != 0xFFFF) {
group.bdshot.telem_rate[chan]++;
} else {
#ifdef HAL_GPIO_LINE_GPIO57
TOGGLE_PIN_DEBUG(57);
#endif
group.bdshot.telem_err_rate[chan]++;
#ifdef HAL_GPIO_LINE_GPIO57
TOGGLE_PIN_DEBUG(57);
#endif
}
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
#if !defined(IOMCU_FW)
uint64_t now = AP_HAL::micros64();
if (chan == DEBUG_CHANNEL && (now - group.bdshot.last_print) > 1000000) {
hal.console->printf("TELEM: %d <%d Hz, %.1f%% err>", group.bdshot.erpm[chan], group.bdshot.telem_rate[chan],
100.0f * float(group.bdshot.telem_err_rate[chan]) / (group.bdshot.telem_err_rate[chan] + group.bdshot.telem_rate[chan]));
hal.console->printf(" %ld ", group.bdshot.dma_buffer_copy[0]);
for (uint8_t l = 1; l < group.bdshot.dma_tx_size; l++) {
hal.console->printf(" +%ld ", group.bdshot.dma_buffer_copy[l] - group.bdshot.dma_buffer_copy[l-1]);
}
hal.console->printf("\n");
group.bdshot.telem_rate[chan] = 0;
group.bdshot.telem_err_rate[chan] = 0;
group.bdshot.last_print = now;
}
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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#endif
#endif
return group.bdshot.erpm[chan] != 0xFFFF;
}
// Find next valid channel for dshot telem
uint8_t RCOutput::bdshot_find_next_ic_channel(const pwm_group& group)
{
uint8_t chan = group.bdshot.curr_telem_chan;
for (uint8_t i = 1; i < 4; i++) {
const uint8_t next_chan = (chan + i) % 4;
if (group.is_chan_enabled(next_chan) &&
group.bdshot.ic_dma_handle[next_chan] != nullptr) {
return next_chan;
}
}
return chan;
}
/*
DMA UP channel interrupt handler. Used to mark DMA send completed for DShot
*/
__RAMFUNC__ void RCOutput::dma_up_irq_callback(void *p, uint32_t flags)
{
pwm_group *group = (pwm_group *)p;
chSysLockFromISR();
// there is a small chance the shared UP CH codepath will get here
if (group->bdshot.enabled && group->dshot_state == DshotState::RECV_START) {
chSysUnlockFromISR();
return;
}
// check nothing bad happened
if ((flags & (STM32_DMA_ISR_TEIF | STM32_DMA_ISR_DMEIF)) != 0) {
INTERNAL_ERROR(AP_InternalError::error_t::dma_fail);
}
dmaStreamDisable(group->dma);
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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if (soft_serial_waiting()) {
#if HAL_SERIAL_ESC_COMM_ENABLED
// tell the waiting process we've done the DMA
chEvtSignalI(irq.waiter, serial_event_mask);
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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#endif
} else if (!group->in_serial_dma && group->bdshot.enabled) {
group->dshot_state = DshotState::SEND_COMPLETE;
// sending is done, in 30us the ESC will send telemetry
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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#if defined(STM32F1)
bdshot_receive_pulses_DMAR_f1(group);
#else
bdshot_receive_pulses_DMAR(group);
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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#endif
} else {
// non-bidir case, this prevents us ever having two dshot pulses too close together
if (is_dshot_protocol(group->current_mode)) {
// since we could be sending a dshot command, wait the full telemetry pulse width
// dshot mandates a minimum pulse separation of 40us
chVTSetI(&group->dma_timeout, chTimeUS2I(group->dshot_pulse_send_time_us + 30U + 40U), dma_unlock, p);
} else {
// WS2812 mandates a minimum pulse separation of 50us
chVTSetI(&group->dma_timeout, chTimeUS2I(50U), dma_unlock, p);
}
}
chSysUnlockFromISR();
}
// DMA IC channel handler. Used to mark DMA receive completed for DShot
__RAMFUNC__ void RCOutput::bdshot_dma_ic_irq_callback(void *p, uint32_t flags)
{
chSysLockFromISR();
// check nothing bad happened
if ((flags & (STM32_DMA_ISR_TEIF | STM32_DMA_ISR_DMEIF)) != 0) {
INTERNAL_ERROR(AP_InternalError::error_t::dma_fail);
}
chSysUnlockFromISR();
}
/*
returns the bitrate in Hz of the given output_mode
*/
uint32_t RCOutput::bdshot_get_output_rate_hz(const enum output_mode mode)
{
switch (mode) {
case MODE_PWM_DSHOT150:
return 150000U * 5 / 4;
case MODE_PWM_DSHOT300:
return 300000U * 5 / 4;
case MODE_PWM_DSHOT600:
return 600000U * 5 / 4;
case MODE_PWM_DSHOT1200:
return 1200000U * 5 / 4;
default:
// use 1 to prevent a possible divide-by-zero
return 1;
}
}
// decode a telemetry packet from a GCR encoded stride buffer, take from betaflight decodeTelemetryPacket
// see https://github.com/betaflight/betaflight/pull/8554#issuecomment-512507625 for a description of the protocol
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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uint32_t RCOutput::bdshot_decode_telemetry_packet(dmar_uint_t* buffer, uint32_t count)
{
uint32_t value = 0;
uint32_t bits = 0;
uint32_t len;
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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dmar_uint_t oldValue = buffer[0];
for (uint32_t i = 1; i <= count; i++) {
if (i < count) {
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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dmar_int_t diff = buffer[i] - oldValue;
if (bits >= 21U) {
break;
}
len = (diff + TELEM_IC_SAMPLE/2U) / TELEM_IC_SAMPLE;
} else {
len = 21U - bits;
}
value <<= len;
value |= 1U << (len - 1U);
oldValue = buffer[i];
bits += len;
}
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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if (bits != 21U) {
return INVALID_ERPM;
}
static const uint32_t decode[32] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 10, 11, 0, 13, 14, 15,
0, 0, 2, 3, 0, 5, 6, 7, 0, 0, 8, 1, 0, 4, 12, 0 };
uint32_t decodedValue = decode[value & 0x1fU];
decodedValue |= decode[(value >> 5U) & 0x1fU] << 4U;
decodedValue |= decode[(value >> 10U) & 0x1fU] << 8U;
decodedValue |= decode[(value >> 15U) & 0x1fU] << 12U;
uint32_t csum = decodedValue;
csum = csum ^ (csum >> 8U); // xor bytes
csum = csum ^ (csum >> 4U); // xor nibbles
if ((csum & 0xfU) != 0xfU) {
return INVALID_ERPM;
}
decodedValue >>= 4;
return decodedValue;
}
2021-04-01 08:19:16 -03:00
#pragma GCC pop_options
// update ESC telemetry information. Returns true if valid eRPM data was decoded.
bool RCOutput::bdshot_decode_telemetry_from_erpm(uint16_t encodederpm, uint8_t chan)
{
if (encodederpm == INVALID_ERPM) {
return false;
}
// eRPM = m << e (see https://github.com/bird-sanctuary/extended-dshot-telemetry)
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
uint8_t expo = ((encodederpm & 0xfffffe00U) >> 9U) & 0xffU; // 3bits
uint16_t value = (encodederpm & 0x000001ffU); // 9bits
#if HAL_WITH_ESC_TELEM
uint8_t normalized_chan = chan;
#endif
#if HAL_WITH_IO_MCU
if (iomcu_dshot) {
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
normalized_chan = chan + chan_offset;
}
#endif
if (!(value & 0x100U) && (_dshot_esc_type == DSHOT_ESC_BLHELI_EDT || _dshot_esc_type == DSHOT_ESC_BLHELI_EDT_S)) {
switch (expo) {
case 0b001: { // Temperature C
#if HAL_WITH_ESC_TELEM
TelemetryData t {
.temperature_cdeg = int16_t(value * 100)
};
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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update_telem_data(normalized_chan, t, AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
#endif
return false;
}
break;
case 0b010: { // Voltage 0.25v
#if HAL_WITH_ESC_TELEM
TelemetryData t {
.voltage = 0.25f * value
};
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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update_telem_data(normalized_chan, t, AP_ESC_Telem_Backend::TelemetryType::VOLTAGE);
#endif
return false;
}
break;
case 0b011: { // Current A
#if HAL_WITH_ESC_TELEM
TelemetryData t {
.current = float(value)
};
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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update_telem_data(normalized_chan, t, AP_ESC_Telem_Backend::TelemetryType::CURRENT);
#endif
return false;
}
break;
case 0b100: // Debug 1
case 0b101: // Debug 2
case 0b110: // Stress level
case 0b111: // Status
return false;
break;
default: // eRPM
break;
}
}
uint16_t erpm = value << expo;
if (!erpm) { // decoded as 0 is an error
return false;
}
erpm = (1000000U * 60U / 100U + erpm / 2U) / erpm;
if (encodederpm == ZERO_ERPM) { // the special 0 encoding
erpm = 0;
}
// update the ESC telemetry data
if (erpm < INVALID_ERPM) {
_bdshot.erpm[chan] = erpm;
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
_bdshot.update_mask |= 1U<<chan;
#if HAL_WITH_ESC_TELEM
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
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update_rpm(normalized_chan, erpm * 200U / _bdshot.motor_poles, get_erpm_error_rate(chan));
#endif
}
return erpm < INVALID_ERPM;
}
AP_HAL_ChibiOS: bdshot for f103 iofirmware add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
2023-09-24 10:09:23 -03:00
uint32_t RCOutput::read_erpm(uint16_t* erpm, uint8_t len)
{
const uint8_t READ_LEN = MIN(len, uint8_t(max_channels));
memcpy(erpm, _bdshot.erpm, sizeof(uint16_t) * READ_LEN);
const uint32_t mask = _bdshot.update_mask;
_bdshot.update_mask = 0;
return mask;
}
#endif // HAL_WITH_BIDIR_DSHOT