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fmu-v5x: enable DShot 

Only the first 6 FMU pins support it.
DMA conflict with UART8, which is the GPS2 port.
This commit is contained in:
Beat Küng 2019-11-28 16:48:59 +01:00
parent 7aa905eb21
commit cf4e97b71c
4 changed files with 15 additions and 3 deletions
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2
boards/px4/fmu-v5x/default.cmake
View File

@ -24,7 +24,7 @@ px4_add_board(
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
#dshot
dshot
gps
#heater
#imu # all available imu drivers

1
boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
View File

@ -258,7 +258,6 @@ CONFIG_UART7_RXDMA=y
CONFIG_UART7_TXBUFSIZE=3000
CONFIG_UART8_BAUD=57600
CONFIG_UART8_RXBUFSIZE=600
CONFIG_UART8_RXDMA=y
CONFIG_UART8_TXBUFSIZE=1500
CONFIG_USART1_BAUD=57600
CONFIG_USART1_RXBUFSIZE=600

2
boards/px4/fmu-v5x/src/board_config.h
View File

@ -426,6 +426,8 @@
#define DIRECT_INPUT_TIMER_CHANNELS 8
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
/* User GPIOs
*

13
boards/px4/fmu-v5x/src/timer_config.c
View File

@ -83,7 +83,12 @@ __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 = STM32_DMA2_BASE,
.dmamap = DMAMAP_TIM1_UP,
.start_ccr_register = TIM_DMABASE_CCR1,
.channels_number = 4u /* CCR1, CCR2, CCR3 and CCR4 */
}
},
{
.base = STM32_TIM4_BASE,
@ -94,6 +99,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.last_channel_index = 5,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM4,
.dshot = {
.dma_base = STM32_DMA1_BASE,
.dmamap = DMAMAP_TIM4_UP,
.start_ccr_register = TIM_DMABASE_CCR2,
.channels_number = 2u /* CCR2 and CCR3 */
}
},
{
.base = STM32_TIM12_BASE,