HAL_ChibiOS: disable features that require advanced dma

libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp

@@ -158,8 +158,9 @@ static void main_loop()
     ChibiOS::I2CBus::clear_all();
 #endif
 
+#if STM32_DMA_ADVANCED
     ChibiOS::Shared_DMA::init();
-
+#endif
     peripheral_power_enable();
         
     hal.uartA->begin(115200);

libraries/AP_HAL_ChibiOS/RCOutput.cpp

@@ -392,13 +392,17 @@ void RCOutput::push_local(void)
                     // this gives us a width in 125 ns increments, giving 1000 steps over the 125 to 250 range
                     uint32_t width = ((group.pwm_cfg.frequency/1000000U) * period_us) / 8U;
                     pwmEnableChannel(group.pwm_drv, j, width);                    
-                } else if (group.current_mode < MODE_PWM_DSHOT150) {
+                } 
+                else if (group.current_mode < MODE_PWM_DSHOT150) {
                     uint32_t width = (group.pwm_cfg.frequency/1000000U) * period_us;
                     pwmEnableChannel(group.pwm_drv, j, width);
-                } else if (group.current_mode >= MODE_PWM_DSHOT150 && group.current_mode <= MODE_PWM_DSHOT1200) {
+                }
+#ifndef DISABLE_DSHOT 
+                else if (group.current_mode >= MODE_PWM_DSHOT150 && group.current_mode <= MODE_PWM_DSHOT1200) {
                     // set period_us to time for pulse output, to enable very fast rates
                     period_us = dshot_pulse_time_us;
                 }
+#endif //#ifndef DISABLE_DSHOT
                 if (period_us > widest_pulse) {
                     widest_pulse = period_us;
                 }
@@ -480,6 +484,7 @@ void RCOutput::read_last_sent(uint16_t* period_us, uint8_t len)
  */
 bool RCOutput::mode_requires_dma(enum output_mode mode) const
 {
+#ifndef DISABLE_DSHOT
     switch (mode) {
     case MODE_PWM_DSHOT150:
     case MODE_PWM_DSHOT300:
@@ -489,6 +494,7 @@ bool RCOutput::mode_requires_dma(enum output_mode mode) const
     default:
         break;
     }
+#endif //#ifndef DISABLE_DSHOT
     return false;
 }
 
@@ -500,6 +506,7 @@ bool RCOutput::mode_requires_dma(enum output_mode mode) const
  */
 bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_width, bool active_high)
 {
+#ifndef DISABLE_DSHOT
     if (!group.dma_buffer) {
         group.dma_buffer = (uint32_t *)hal.util->malloc_type(dshot_buffer_length, AP_HAL::Util::MEM_DMA_SAFE);
         if (!group.dma_buffer) {
@@ -567,6 +574,9 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_
     }
     group.dma_handle->unlock();
     return true;
+#else
+    return false;
+#endif //#ifndef DISABLE_DSHOT
 }
 
 
@@ -592,7 +602,7 @@ void RCOutput::set_group_mode(pwm_group &group)
             write(chan, 0);
         }
         break;
-        
+
     case MODE_PWM_DSHOT150 ... MODE_PWM_DSHOT1200: {
         const uint16_t rates[(1 + MODE_PWM_DSHOT1200) - MODE_PWM_DSHOT150] = { 150, 300, 600, 1200 };
         uint32_t rate = rates[uint8_t(group.current_mode - MODE_PWM_DSHOT150)] * 1000UL;
@@ -608,7 +618,7 @@ void RCOutput::set_group_mode(pwm_group &group)
         dshot_pulse_time_us = 1000000UL * dshot_bit_length / rate;
         break;
     }
-            
+   
     case MODE_PWM_ONESHOT:
     case MODE_PWM_ONESHOT125:
         // for oneshot we set a period of 0, which results in no pulses till we trigger
@@ -875,6 +885,7 @@ void RCOutput::fill_DMA_buffer_dshot(uint32_t *buffer, uint8_t stride, uint16_t
  */
 void RCOutput::dshot_send(pwm_group &group, bool blocking)
 {
+#ifndef DISABLE_DSHOT
     if (irq.waiter) {
         // doing serial output, don't send DShot pulses
         return;
@@ -923,6 +934,7 @@ void RCOutput::dshot_send(pwm_group &group, bool blocking)
     send_pulses_DMAR(group, dshot_buffer_length);
 
     group.last_dshot_send_us = AP_HAL::micros64();
+#endif //#ifndef DISABLE_DSHOT
 }
 
 /*
@@ -932,6 +944,7 @@ void RCOutput::dshot_send(pwm_group &group, bool blocking)
  */
 void RCOutput::send_pulses_DMAR(pwm_group &group, uint32_t buffer_length)
 {
+#ifndef DISABLE_DSHOT
     /*
       The DMA approach we are using is based on the DMAR method from
       betaflight. We use the TIMn_UP DMA channel for the timer, and
@@ -959,6 +972,7 @@ void RCOutput::send_pulses_DMAR(pwm_group &group, uint32_t buffer_length)
     group.pwm_drv->tim->DCR = 0x0D | STM32_TIM_DCR_DBL(3);
 
     dmaStreamEnable(group.dma);
+#endif //#ifndef DISABLE_DSHOT
 }
 
 /*
@@ -966,10 +980,12 @@ void RCOutput::send_pulses_DMAR(pwm_group &group, uint32_t buffer_length)
  */
 void RCOutput::dma_unlock(void *p)
 {
+#if STM32_DMA_ADVANCED
     pwm_group *group = (pwm_group *)p;
     chSysLockFromISR();
     group->dma_handle->unlock_from_IRQ();
-    chSysUnlockFromISR();    
+    chSysUnlockFromISR();
+#endif
 }
 
 /*
@@ -1114,6 +1130,7 @@ bool RCOutput::serial_write_byte(uint8_t b)
 */
 bool RCOutput::serial_write_bytes(const uint8_t *bytes, uint16_t len)
 {
+#if STM32_DMA_ADVANCED
     if (!serial_group) {
         return false;
     }
@@ -1132,6 +1149,9 @@ bool RCOutput::serial_write_bytes(const uint8_t *bytes, uint16_t len)
     
     serial_group->dma_handle->unlock();
     return true;
+#else
+    return false;
+#endif //#if STM32_DMA_ADVANCED
 }
 
 /*
@@ -1239,6 +1259,7 @@ bool RCOutput::serial_read_byte(uint8_t &b)
 */
 uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
 {
+#ifndef DISABLE_SERIAL_ESC_COMM
     if (serial_group == nullptr) {
         return 0;
     }
@@ -1292,6 +1313,10 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
     palWriteLine(HAL_GPIO_LINE_GPIO54, 0);
 #endif
     return i;
+#else
+    return false;
+#endif //#ifndef DISABLE_SERIAL_ESC_COMM
+
 }
 
 /*
@@ -1299,6 +1324,7 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
 */
 void RCOutput::serial_end(void)
 {
+#ifndef DISABLE_SERIAL_ESC_COMM
     if (serial_group) {
         if (serial_thread == chThdGetSelfX()) {
             chThdSetPriority(serial_priority);
@@ -1317,6 +1343,7 @@ void RCOutput::serial_end(void)
         }
     }
     serial_group = nullptr;
+#endif //#ifndef DISABLE_SERIAL_ESC_COMM
 }
 
 /*

libraries/AP_HAL_ChibiOS/RCOutput.h

@@ -23,6 +23,10 @@
 
 #if HAL_USE_PWM == TRUE
 
+#if !STM32_DMA_ADVANCED
+#define DISABLE_DSHOT
+#endif
+
 class ChibiOS::RCOutput : public AP_HAL::RCOutput {
 public:
     void     init();

libraries/AP_HAL_ChibiOS/shared_dma.cpp

@@ -20,7 +20,7 @@
   code to handle sharing of DMA channels between peripherals
  */
 
-#if CH_CFG_USE_SEMAPHORES == TRUE
+#if CH_CFG_USE_SEMAPHORES == TRUE && STM32_DMA_ADVANCED
 
 using namespace ChibiOS;
 
@@ -186,4 +186,4 @@ void Shared_DMA::lock_all(void)
     }
 }
 
-#endif // CH_CFG_USE_SEMAPHORES
+#endif // CH_CFG_USE_SEMAPHORES && STM32_DMA_ADVANCED

libraries/AP_HAL_ChibiOS/shared_dma.h

@@ -18,6 +18,8 @@
 
 #include "AP_HAL_ChibiOS.h"
 
+#if STM32_DMA_ADVANCED
+
 #define SHARED_DMA_MAX_STREAM_ID (8*2)
 
 // DMA stream ID for stream_id2 when only one is needed
@@ -92,4 +94,6 @@ private:
         Shared_DMA *obj;
     } locks[SHARED_DMA_MAX_STREAM_ID];
 };
+#endif //#if STM32_DMA_ADVANCED
+