From 1d44231cd4b4bd0553284803d4b339c222e8dcd2 Mon Sep 17 00:00:00 2001
From: Travis Bottalico <travis@modalai.com>
Date: Wed, 23 Oct 2019 17:52:26 -0700
Subject: [PATCH] modalai fc-v1: add dshot support

---
 boards/modalai/fc-v1/default.cmake      | 1 +
 boards/modalai/fc-v1/src/board_config.h | 2 ++
 boards/modalai/fc-v1/src/timer_config.c | 7 +++++++
 3 files changed, 10 insertions(+)

diff --git a/boards/modalai/fc-v1/default.cmake b/boards/modalai/fc-v1/default.cmake
index a9e6b88733..8a3698285a 100644
--- a/boards/modalai/fc-v1/default.cmake
+++ b/boards/modalai/fc-v1/default.cmake
@@ -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
diff --git a/boards/modalai/fc-v1/src/board_config.h b/boards/modalai/fc-v1/src/board_config.h
index 80848d6e3b..885cc20efe 100644
--- a/boards/modalai/fc-v1/src/board_config.h
+++ b/boards/modalai/fc-v1/src/board_config.h
@@ -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
 
 /****************************************************************************************************
diff --git a/boards/modalai/fc-v1/src/timer_config.c b/boards/modalai/fc-v1/src/timer_config.c
index 41f3e7e149..c7766425d0 100644
--- a/boards/modalai/fc-v1/src/timer_config.c
+++ b/boards/modalai/fc-v1/src/timer_config.c
@@ -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,