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AP_HAL_ChibiOS: handle UP/CH channel sharing on H7 correctly

This commit is contained in:
Andy Piper 2021-01-18 21:43:25 +00:00 committed by Andrew Tridgell
parent 9e641a32ad
commit 2fadcf6ba0
1 changed files with 9 additions and 3 deletions
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12
libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
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@ -214,11 +214,12 @@ void RCOutput::bdshot_receive_pulses_DMAR(pwm_group* group)
// Initialise ICU channels
bdshot_config_icu_dshot(group->pwm_drv->tim, curr_ch, group->bdshot.telem_tim_ch[curr_ch]);
uint32_t ic_channel = STM32_DMA_CR_CHSEL(group->dma_ch[curr_ch].channel);
// do a little DMA dance when sharing with UP
#if STM32_DMA_SUPPORTS_DMAMUX
if (group->has_shared_ic_up_dma()) {
ic_channel = STM32_DMA_CR_CHSEL(group->dma_up_channel);
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];
@ -228,7 +229,7 @@ void RCOutput::bdshot_receive_pulses_DMAR(pwm_group* group)
dmaStreamSetTransactionSize(ic_dma, GCR_TELEMETRY_BIT_LEN);
dmaStreamSetFIFO(ic_dma, STM32_DMA_FCR_DMDIS | STM32_DMA_FCR_FTH_FULL);
dmaStreamSetMode(ic_dma,
ic_channel |
STM32_DMA_CR_CHSEL(group->dma_ch[curr_ch].channel) |
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);
@ -372,6 +373,11 @@ void RCOutput::bdshot_finish_dshot_gcr_transaction(void *p)
if (group->ic_dma_enabled()) {
group->bdshot.ic_dma_handle[curr_telem_chan]->unlock_from_IRQ();
}
#if STM32_DMA_SUPPORTS_DMAMUX
else if (group->has_shared_ic_up_dma()) {
dmaSetRequestSource(group->dma, group->dma_up_channel);
}
#endif
// rotate to the next input channel
group->bdshot.prev_telem_chan = group->bdshot.curr_telem_chan;