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HAL_ChibiOS: fixed DMAR register offset

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use offsetof() instead of a magic value
This commit is contained in:
Andrew Tridgell 2021-03-14 11:03:49 +11:00
parent 50d5fced54
commit 7496b8bff5
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -1342,9 +1342,9 @@ void RCOutput::send_pulses_DMAR(pwm_group &group, uint32_t buffer_length)
STM32_DMA_CR_MINC | STM32_DMA_CR_PL(3) |
STM32_DMA_CR_TEIE | STM32_DMA_CR_TCIE);
// setup for 4 burst strided transfers. 0x0D is the register
// address offset of the CCR registers in the timer peripheral
group.pwm_drv->tim->DCR = 0x0D | STM32_TIM_DCR_DBL(3);
// setup for burst strided transfers into the timers 4 CCR registers
const uint8_t ccr_ofs = offsetof(stm32_tim_t, CCR)/4;
group.pwm_drv->tim->DCR = STM32_TIM_DCR_DBA(ccr_ofs) | STM32_TIM_DCR_DBL(3);
group.dshot_state = DshotState::SEND_START;
TOGGLE_PIN_DEBUG(54);