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px4-firmware
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fmu-v5: add dshot support 

But only on the first 4 FMU outputs, as the next ones conflict with px4io
serial dma (UART8_RX)

RX DMA is disabled on the GPS port as well (conflicts with TIM1).
This commit is contained in:
Beat Küng 2019-09-24 19:58:40 +02:00
parent 8a9744d05a
commit 67500123e3
7 changed files with 10 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
boards/px4/fmu-v5/default.cmake
View File

@ -25,6 +25,7 @@ px4_add_board(
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
dshot
gps
#heater
imu/adis16448

1
boards/px4/fmu-v5/nuttx-config/critmonitor/defconfig
View File

@ -227,7 +227,6 @@ CONFIG_UART8_RXDMA=y
CONFIG_UART8_TXBUFSIZE=1500
CONFIG_USART1_BAUD=57600
CONFIG_USART1_RXBUFSIZE=600
CONFIG_USART1_RXDMA=y
CONFIG_USART1_TXBUFSIZE=1500
CONFIG_USART2_BAUD=57600
CONFIG_USART2_IFLOWCONTROL=y

1
boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig
View File

@ -226,7 +226,6 @@ CONFIG_UART8_RXDMA=y
CONFIG_UART8_TXBUFSIZE=1500
CONFIG_USART1_BAUD=57600
CONFIG_USART1_RXBUFSIZE=600
CONFIG_USART1_RXDMA=y
CONFIG_USART1_TXBUFSIZE=1500
CONFIG_USART2_BAUD=57600
CONFIG_USART2_IFLOWCONTROL=y

1
boards/px4/fmu-v5/nuttx-config/nsh/defconfig
View File

@ -225,7 +225,6 @@ CONFIG_UART8_RXDMA=y
CONFIG_UART8_TXBUFSIZE=1500
CONFIG_USART1_BAUD=57600
CONFIG_USART1_RXBUFSIZE=600
CONFIG_USART1_RXDMA=y
CONFIG_USART1_TXBUFSIZE=1500
CONFIG_USART2_BAUD=57600
CONFIG_USART2_IFLOWCONTROL=y

1
boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
View File

@ -217,7 +217,6 @@ CONFIG_UART8_RXDMA=y
CONFIG_UART8_TXBUFSIZE=1500
CONFIG_USART1_BAUD=57600
CONFIG_USART1_RXBUFSIZE=600
CONFIG_USART1_RXDMA=y
CONFIG_USART1_TXBUFSIZE=1500
CONFIG_USART2_BAUD=57600
CONFIG_USART2_IFLOWCONTROL=y

2
boards/px4/fmu-v5/src/board_config.h
View File

@ -673,6 +673,8 @@
#define BOARD_NUM_IO_TIMERS 5
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
__BEGIN_DECLS
/****************************************************************************************************

8
boards/px4/fmu-v5/src/timer_config.c
View File

@ -60,7 +60,13 @@ __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,