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modalai fc-v1: add dshot support

This commit is contained in:
Travis Bottalico 2019-10-23 17:52:26 -07:00 committed by Daniel Agar
parent 367e756c81
commit 1d44231cd4
3 changed files with 10 additions and 0 deletions
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1
boards/modalai/fc-v1/default.cmake
View File

@ -24,6 +24,7 @@ px4_add_board(
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
dshot
gps
imu/bmi088
# TODO imu/icm42688

2
boards/modalai/fc-v1/src/board_config.h
View File

@ -480,6 +480,8 @@
#define BOARD_NUM_IO_TIMERS 5
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
__BEGIN_DECLS
/****************************************************************************************************

7
boards/modalai/fc-v1/src/timer_config.c
View File

@ -75,6 +75,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.last_channel_index = 3,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC,
.dshot = {
.dma_base = DSHOT_DMA2_BASE,
.channel = DShot_Channel6,
.stream = DShot_Stream5,
.start_ccr_register = TIM_DMABASE_CCR1,
.channels_number = 4u /* CCR1, CCR2, CCR3 and CCR4 */
}
},
{
.base = STM32_TIM4_BASE,