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AP_HAL_ChibiOS: prefer bi-directional dshot channels that can be shared on F4 and F7

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This commit is contained in:
Andy Piper 2023-09-01 17:51:37 +01:00 committed by Andrew Tridgell
parent e000e57572
commit 9387236e6c
1 changed files with 18 additions and 1 deletions
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19
libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
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@ -340,7 +340,24 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
for p in peripheral_list:
forbidden_map[p] = forbidden_list(p, peripheral_list)
# force sharing of TIMx_UP and TIMx_CHy if possible
periphs = peripheral_list.copy()
forbidden_streams = []
for periph in peripheral_list:
if "_UP" in periph:
for periph2 in peripheral_list:
if "_CH" in periph2 and periph[:4] == periph2[:4]:
shared_channels = [value for value in dma_map[periph] if value in dma_map[periph2]]
if len(shared_channels) > 0:
stream = (shared_channels[0][0], shared_channels[0][1])
curr_dict[periph] = stream
curr_dict[periph2] = stream
forbidden_streams.append(stream)
periphs.remove(periph)
periphs.remove(periph2)
print("Sharing channel %s for %s %s" % (stream, periph, periph2))
for periph in periphs:
if "_CH" in periph:
has_bdshot = True # the list contains a CH port
if periph in dma_exclude:
@ -359,7 +376,7 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
print('........Possibility for', periph, streamchan)
stream = (streamchan[0], streamchan[1])
if check_possibility(periph, stream, curr_dict, dma_map,
check_list, [], forbidden_map):
check_list, forbidden_streams, forbidden_map):
curr_dict[periph] = stream
if debug:
print ('....................... Setting', periph, stream)