fix kconfig, add _REG32

boards/ark/fpv/default.px4board

@@ -14,7 +14,7 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_DSHOT_BITBANG=y
+CONFIG_DSHOT_BITBANG=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y

platforms/nuttx/src/px4/stm/stm32_common/dshot/CMakeLists.txt

@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-if(CONFIG_DRIVERS_DSHOT_BITBANG)
+if(CONFIG_DSHOT_BITBANG)
 	set(DSHOT_SRC dshot_bitbang.c)
 else()
 	set(DSHOT_SRC dshot.c)

platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot_bitbang.c

@@ -87,6 +87,7 @@
 #endif
 
 // Timer register macros (from io_timer.c, local to this file)
+#define _REG32(_base, _reg) (*(volatile uint32_t *)(_base + _reg))
 #define REG(_tmr, _reg)     _REG32(io_timers[_tmr].base, _reg)
 #define rCR1(_tmr)          REG(_tmr, STM32_GTIM_CR1_OFFSET)
 #define rCR2(_tmr)          REG(_tmr, STM32_GTIM_CR2_OFFSET)
@@ -232,8 +233,6 @@ static void timer_configure_pacer(uint8_t timer_index)
 	// Auto-reload: one DMA transfer per timer update
 	rARR(timer_index) = SUBPERIODS_PER_BIT - 1;
 
-	test
-
 	// Generate update event to load prescaler
 	rEGR(timer_index) = GTIM_EGR_UG;
 

src/drivers/dshot/Kconfig

@@ -3,3 +3,10 @@ menuconfig DRIVERS_DSHOT
 	default n
 	---help---
 		Enable support for dshot
+
+config DSHOT_BITBANG
+	bool "Use bitbang DShot"
+	default n
+	depends on DRIVERS_DSHOT
+	---help---
+		Use bitbang GPIO DShot instead of DMA burst to timer registers