mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
9f30d01561
add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
50 lines
1.7 KiB
PHP
50 lines
1.7 KiB
PHP
# hw definition file for processing by chibios_pins.py
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include ../iomcu/hwdef.inc
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undef AP_FASTBOOT_ENABLED AP_BOOTLOADER_FLASHING_ENABLED
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undef HAL_DSHOT_ENABLED
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# PPM uses a DMA channel that is required for TIM2, and no remapping of PA8 is possible
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undef PA8
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undef STM32_ICU_USE_TIM1 RCIN_ICU_TIMER STM32_RCIN_DMA_STREAM HAL_USE_ICU
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undef PORT_INT_REQUIRED_STACK MAIN_STACK
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undef CH_CFG_ST_TIMEDELTA CH_CFG_ST_FREQUENCY
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undef AP_HAL_SHARED_DMA_ENABLED
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# TIM2_UP required for PWM1/2
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define STM32_TIM_TIM2_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
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define STM32_TIM_TIM2_UP_DMA_CHAN 1
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# TIM4_UP (PWM 3/4) cannot be used without sharing as channels used by high speed USART2 RX/TX
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define AP_HAL_SHARED_DMA_ENABLED 1
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define STM32_TIM_TIM4_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
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define STM32_TIM_TIM4_UP_DMA_CHAN 1
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define SHARED_DMA_MASK (1U<<STM32_TIM_TIM4_UP_DMA_STREAM)
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# TIM3_UP required for PWM5-8
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define STM32_TIM_TIM3_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
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define STM32_TIM_TIM3_UP_DMA_CHAN 1
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define NO_FASTBOOT
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define HAL_WITH_DSP FALSE
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define HAL_DSHOT_ENABLED TRUE
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define HAL_SERIALLED_ENABLED FALSE
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# Tickless mode is required in order for the virtual timers used by dshot to work correctly
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STM32_ST_USE_TIMER 15
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define CH_CFG_ST_RESOLUTION 16
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define CH_CFG_ST_TIMEDELTA 2
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define CH_CFG_ST_FREQUENCY 1000000
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# ChibiOS already correctly sets stack sizes and considers 64 extra as conservative
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define PORT_INT_REQUIRED_STACK 64
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# "main" stack is only used for exceptions and ISR, but they can be nested
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MAIN_STACK 0x180
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# defines to allow the loop timing to be observed with a Saleae
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#define IOMCU_LOOP_TIMING_DEBUG 1
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#undef PB0 PB1
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#PB0 PINIO1 OUTPUT GPIO(107) LOW
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#PB1 PINIO2 OUTPUT GPIO(108) LOW
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