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AP_HAL_ChibiOS: reset pwm peripheral on F1 when deallocating IC DMA

This commit is contained in:
Andy Piper 2024-05-30 16:30:59 +01:00 committed by Andrew Tridgell
parent c2a9bc93b5
commit ae8a2d9513
5 changed files with 28 additions and 12 deletions
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5
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -1531,16 +1531,15 @@ void RCOutput::dma_deallocate(Shared_DMA *ctx)
for (auto &group : pwm_group_list) {
if (group.dma_handle == ctx && group.dma != nullptr) {
chSysLock();
dmaStreamFreeI(group.dma);
#if defined(STM32F1)
// leaving the peripheral running on IOMCU plays havoc with the UART that is
// also sharing this channel, we only turn it off rather than resetting so
// that we don't have to worry about line modes etc
if (group.pwm_started && group.dma_handle->is_shared()) {
group.pwm_drv->tim->CR1 = 0;
group.pwm_drv->tim->DIER = 0;
bdshot_disable_pwm_f1(group);
}
#endif
dmaStreamFreeI(group.dma);
group.dma = nullptr;
chSysUnlock();
}

1
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -733,6 +733,7 @@ private:
static void bdshot_receive_pulses_DMAR_f1(pwm_group* group);
static void bdshot_reset_pwm(pwm_group& group, uint8_t telem_channel);
static void bdshot_reset_pwm_f1(pwm_group& group, uint8_t telem_channel);
static void bdshot_disable_pwm_f1(pwm_group& group);
static void bdshot_config_icu_dshot(stm32_tim_t* TIMx, uint8_t chan, uint8_t ccr_ch);
static void bdshot_config_icu_dshot_f1(stm32_tim_t* TIMx, uint8_t chan, uint8_t ccr_ch);
static uint32_t bdshot_get_output_rate_hz(const enum output_mode mode);

5
libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
View File

@ -230,6 +230,11 @@ void RCOutput::bdshot_ic_dma_deallocate(Shared_DMA *ctx)
chSysLock();
if (group.bdshot.ic_dma_handle[icuch] == ctx && group.bdshot.ic_dma[icuch] != nullptr) {
dmaStreamFreeI(group.bdshot.ic_dma[icuch]);
#if defined(STM32F1)
if (group.bdshot.ic_dma_handle[icuch]->is_shared()) {
bdshot_disable_pwm_f1(group);
}
#endif
group.bdshot.ic_dma[icuch] = nullptr;
}
chSysUnlock();

27
libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
View File

@ -135,6 +135,22 @@ void RCOutput::rcout_thread() {
}
}
#if defined(STM32F1)
void RCOutput::bdshot_disable_pwm_f1(pwm_group& group)
{
stm32_tim_t* TIMx = group.pwm_drv->tim;
// pwmStop sets these
TIMx->CR1 = 0; /* Timer disabled. */
TIMx->DIER = 0; /* All IRQs disabled. */
TIMx->SR = 0; /* Clear eventual pending IRQs. */
TIMx->CNT = 0;
TIMx->CCR[0] = 0; /* Comparator 1 disabled. */
TIMx->CCR[1] = 0; /* Comparator 2 disabled. */
TIMx->CCR[2] = 0; /* Comparator 3 disabled. */
TIMx->CCR[3] = 0; /* Comparator 4 disabled. */
}
#endif
#if defined(HAL_WITH_BIDIR_DSHOT) && defined(STM32F1)
// reset pwm driver to output mode without resetting the clock or the peripheral
// the code here is the equivalent of pwmStart()/pwmStop()
@ -143,15 +159,8 @@ void RCOutput::bdshot_reset_pwm_f1(pwm_group& group, uint8_t telem_channel)
osalSysLock();
stm32_tim_t* TIMx = group.pwm_drv->tim;
// pwmStop sets these
TIMx->CR1 = 0; /* Timer disabled. */
TIMx->DIER = 0; /* All IRQs disabled. */
TIMx->SR = 0; /* Clear eventual pending IRQs. */
TIMx->CNT = 0;
TIMx->CCR[0] = 0; /* Comparator 1 disabled. */
TIMx->CCR[1] = 0; /* Comparator 2 disabled. */
TIMx->CCR[2] = 0; /* Comparator 3 disabled. */
TIMx->CCR[3] = 0; /* Comparator 4 disabled. */
bdshot_disable_pwm_f1(group);
// at the point this is called we will have done input capture on two CC channels
// we need to switch those channels back to output and the default settings
// all other channels will not have been modified

2
libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.inc
View File

@ -40,6 +40,8 @@ define STM32_TIM_TIM4_CH3_DMA_CHAN 1
define STM32_TIM_TIM3_CH4_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
define STM32_TIM_TIM3_CH4_DMA_CHAN 1
# STM32_UART_USART2_TX_DMA_STREAM defined as (1, 7) by ChibiOS
undef SHARED_DMA_MASK
define SHARED_DMA_MASK (1U<<STM32_TIM_TIM4_UP_DMA_STREAM | 1U<<STM32_TIM_TIM2_CH2_DMA_STREAM | 1U<<STM32_UART_USART2_TX_DMA_STREAM)