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

HAL_ChibiOS: enable DShot on G4

This commit is contained in:
Andrew Tridgell 2021-03-14 09:23:14 +11:00
parent f57b1b9c4b
commit f2ac61f6ba
2 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -1333,7 +1333,9 @@ void RCOutput::send_pulses_DMAR(pwm_group &group, uint32_t buffer_length)
stm32_cacheBufferFlush(group.dma_buffer, buffer_length); stm32_cacheBufferFlush(group.dma_buffer, buffer_length);
dmaStreamSetMemory0(group.dma, group.dma_buffer); dmaStreamSetMemory0(group.dma, group.dma_buffer);
dmaStreamSetTransactionSize(group.dma, buffer_length/sizeof(uint32_t)); dmaStreamSetTransactionSize(group.dma, buffer_length/sizeof(uint32_t));
#ifdef STM32_DMA_FCR_FTH_FULL
dmaStreamSetFIFO(group.dma, STM32_DMA_FCR_DMDIS | STM32_DMA_FCR_FTH_FULL); dmaStreamSetFIFO(group.dma, STM32_DMA_FCR_DMDIS | STM32_DMA_FCR_FTH_FULL);
#endif
dmaStreamSetMode(group.dma, dmaStreamSetMode(group.dma,
STM32_DMA_CR_CHSEL(group.dma_up_channel) | STM32_DMA_CR_CHSEL(group.dma_up_channel) |
STM32_DMA_CR_DIR_M2P | STM32_DMA_CR_PSIZE_WORD | STM32_DMA_CR_MSIZE_WORD | STM32_DMA_CR_DIR_M2P | STM32_DMA_CR_PSIZE_WORD | STM32_DMA_CR_MSIZE_WORD |

2
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -24,7 +24,7 @@
#if HAL_USE_PWM == TRUE #if HAL_USE_PWM == TRUE
#if !STM32_DMA_ADVANCED #if !STM32_DMA_ADVANCED && !defined(STM32G4)
#define DISABLE_DSHOT #define DISABLE_DSHOT
#endif #endif