dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

dshot: allow boards to enable dshot only on a subset of the timers

This commit is contained in:
Beat Küng 2019-09-24 10:35:07 +02:00
parent 93a12436a3
commit 8a9744d05a
1 changed files with 8 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
View File

@ -170,28 +170,22 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
for (unsigned channel = 0; (channel_mask != 0) && (channel < MAX_TIMER_IO_CHANNELS) && (OK == ret_val); channel++) {
if (channel_mask & (1 << channel)) {
uint8_t timer = timer_io_channels[channel].timer_index;
if (io_timers[timer].dshot.dma_base == 0) { // board does not configure dshot on this timer
continue;
}
// First free any that were not DShot mode before
if (-EBUSY == io_timer_is_channel_free(channel)) {
io_timer_free_channel(channel);
}
int success = io_timer_channel_init(channel, IOTimerChanMode_Dshot, NULL, NULL);
ret_val = io_timer_channel_init(channel, IOTimerChanMode_Dshot, NULL, NULL);
if (OK == success) {
if (OK == ret_val) {
channel_mask &= ~(1 << channel);
uint8_t timer = timer_io_channels[channel].timer_index;
if (io_timers[timer].dshot.dma_base == 0) { // board does not configure dshot
io_timer_free_channel(channel);
ret_val = ERROR;
} else {
dshot_handler[timer].init = true;
}
} else {
ret_val = ERROR;
dshot_handler[timer].init = true;
}
}
}