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durandal-v1: enable dshot

This commit is contained in:
Beat Küng 2019-11-28 16:51:09 +01:00
parent d5b655bad6
commit 0f42ecc5c7
10 changed files with 37 additions and 11 deletions
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2
boards/holybro/durandal-v1/default.cmake
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@ -24,7 +24,7 @@ px4_add_board(
camera_trigger camera_trigger
differential_pressure # all available differential pressure drivers differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers distance_sensor # all available distance sensor drivers
# dshot -- todo needslooking at dshot
gps gps
heater heater
#imu # all available imu drivers #imu # all available imu drivers

2
boards/holybro/durandal-v1/nuttx-config/include/board.h
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@ -374,8 +374,6 @@
/* UART RX DMA configurations */ /* UART RX DMA configurations */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */ #define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */ #define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */

2
boards/holybro/durandal-v1/src/board_config.h
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@ -340,6 +340,8 @@
#define DIRECT_INPUT_TIMER_CHANNELS 5 #define DIRECT_INPUT_TIMER_CHANNELS 5
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
/* User GPIOs /* User GPIOs
* *
* GPIO0-4 are the PWM servo outputs. * GPIO0-4 are the PWM servo outputs.

13
boards/holybro/durandal-v1/src/timer_config.c
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@ -60,7 +60,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.last_channel_index = 3, .last_channel_index = 3,
.handler = io_timer_handler0, .handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIMCC, .vectorno = STM32_IRQ_TIMCC,
.dshot = {
.dma_base = STM32_DMA1_BASE,
.dmamap = DMAMAP_DMA12_TIM1UP_0,
.start_ccr_register = TIM_DMABASE_CCR1,
.channels_number = 4u /* CCR1, CCR2, CCR3 and CCR4 */
}
}, },
{ {
.base = STM32_TIM4_BASE, .base = STM32_TIM4_BASE,
@ -71,6 +76,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.last_channel_index = 4, .last_channel_index = 4,
.handler = io_timer_handler1, .handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM4, .vectorno = STM32_IRQ_TIM4,
.dshot = {
.dma_base = STM32_DMA1_BASE,
.dmamap = DMAMAP_DMA12_TIM4UP_0,
.start_ccr_register = TIM_DMABASE_CCR2,
.channels_number = 1u /* CCR2 */
}
}, },
}; };

2
platforms/nuttx/NuttX/nuttx

@ -1 +1 @@
Subproject commit 66401c8960c5211ded41ae4f60bfb1746a84bd50 Subproject commit 2d7920055f96f5734d5166e2c58daa16c6dff2f5

2
platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
View File

@ -174,7 +174,7 @@ void up_dshot_trigger(void)
first_motor += motors_number; first_motor += motors_number;
stm32_dmasetup(dshot_handler[timer].dma_handle, px4_stm32_dmasetup(dshot_handler[timer].dma_handle,
io_timers[timer].base + STM32_GTIM_DMAR_OFFSET, io_timers[timer].base + STM32_GTIM_DMAR_OFFSET,
(uint32_t)(dshot_burst_buffer[timer]), (uint32_t)(dshot_burst_buffer[timer]),
dshot_handler[timer].dma_size, dshot_handler[timer].dma_size,

2
platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/dshot.h
View File

@ -32,6 +32,6 @@
****************************************************************************/ ****************************************************************************/
#pragma once #pragma once
#define px4_stm32_dmasetup stm32_dmasetup
#include "../../../stm32_common/include/px4_arch/dshot.h" #include "../../../stm32_common/include/px4_arch/dshot.h"

1
platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/dshot.h
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@ -33,5 +33,6 @@
#pragma once #pragma once
#define px4_stm32_dmasetup stm32_dmasetup
#include "../../../stm32_common/include/px4_arch/dshot.h" #include "../../../stm32_common/include/px4_arch/dshot.h"

1
platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/dshot.h
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@ -33,5 +33,6 @@
#pragma once #pragma once
#define px4_stm32_dmasetup stm32_dmasetup
#include "../../../stm32_common/include/px4_arch/dshot.h" #include "../../../stm32_common/include/px4_arch/dshot.h"

13
platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/dshot.h
View File

@ -32,5 +32,18 @@
****************************************************************************/ ****************************************************************************/
#pragma once #pragma once
#include <stm32_dma.h>
static inline void px4_stm32_dmasetup(DMA_HANDLE handle, uint32_t paddr, uint32_t maddr,
size_t ntransfers, uint32_t scr)
{
struct stm32_dma_config_s cfg;
cfg.paddr = paddr;
cfg.maddr = maddr;
cfg.cfg1 = scr;
cfg.cfg2 = 0;
cfg.ndata = ntransfers;
stm32_dmasetup(handle, &cfg);
}
#include "../../../stm32_common/include/px4_arch/dshot.h" #include "../../../stm32_common/include/px4_arch/dshot.h"