Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: fixed DShot on H7

This commit is contained in:
Andrew Tridgell 2019-02-23 09:29:16 +11:00
parent 26e76e51ed
commit 94abc5a54d
1 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -514,8 +514,7 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_
}
}
// for dshot we setup for DMAR based output
if (!group.dma) {
group.dma = STM32_DMA_STREAM(group.dma_up_stream_id);
if (!group.dma_handle) {
group.dma_handle = new Shared_DMA(group.dma_up_stream_id, SHARED_DMA_NONE,
FUNCTOR_BIND_MEMBER(&RCOutput::dma_allocate, void, Shared_DMA *),
FUNCTOR_BIND_MEMBER(&RCOutput::dma_deallocate, void, Shared_DMA *));
@ -824,7 +823,9 @@ void RCOutput::dma_allocate(Shared_DMA *ctx)
group.dma = dmaStreamAllocI(group.dma_up_stream_id, 10, dma_irq_callback, &group);
chSysUnlock();
#if STM32_DMA_SUPPORTS_DMAMUX
dmaSetRequestSource(group.dma, group.dma_up_channel);
if (group.dma) {
dmaSetRequestSource(group.dma, group.dma_up_channel);
}
#endif
}
}
@ -837,7 +838,7 @@ void RCOutput::dma_deallocate(Shared_DMA *ctx)
{
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i];
if (group.dma_handle == ctx) {
if (group.dma_handle == ctx && group.dma != nullptr) {
chSysLock();
dmaStreamFreeI(group.dma);
group.dma = nullptr;