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omnibusf4sd: add dshot timer config

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This commit is contained in:
Beat Küng 2019-08-31 12:03:41 +02:00
parent d8ef1b59b9
commit ac82c5114b
5 changed files with 21 additions and 4 deletions
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1
boards/omnibus/f4sd/default.cmake
View File

@ -19,6 +19,7 @@ px4_add_board(
#camera_trigger
#differential_pressure # all available differential pressure drivers
#distance_sensor # all available distance sensor drivers
dshot
gps
#heater
#imu # all available imu drivers

2
boards/omnibus/f4sd/nuttx-config/include/board.h
View File

@ -256,7 +256,7 @@
#define GPIO_USART1_TX GPIO_USART1_TX_1
/* USART1 require a RX DMA configuration */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1
/* USART3:
*

1
boards/omnibus/f4sd/nuttx-config/nsh/defconfig
View File

@ -180,7 +180,6 @@ CONFIG_TASK_NAME_SIZE=24
CONFIG_TIME_EXTENDED=y
CONFIG_UART4_BAUD=57600
CONFIG_UART4_RXBUFSIZE=300
CONFIG_UART4_RXDMA=y
CONFIG_UART4_TXBUFSIZE=300
CONFIG_USART1_RXBUFSIZE=300
CONFIG_USART1_RXDMA=y

2
boards/omnibus/f4sd/src/board_config.h
View File

@ -267,6 +267,8 @@
#define BOARD_ENABLE_CONSOLE_BUFFER
#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {2, 3, 1, 0};
__BEGIN_DECLS
/****************************************************************************************************

19
boards/omnibus/f4sd/src/timer_config.c
View File

@ -59,7 +59,14 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.first_channel_index = 0,
.last_channel_index = 1,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM2
.vectorno = STM32_IRQ_TIM2,
.dshot = {
.dma_base = DSHOT_DMA1_BASE,
.channel = DShot_Channel3,
.stream = DShot_Stream1,
.start_ccr_register = TIM_DMABASE_CCR3,
.channels_number = 2u /* CCR3 and CCR4 */
}
},
{
.base = STM32_TIM3_BASE,
@ -69,9 +76,17 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.first_channel_index = 2,
.last_channel_index = 3,
.handler = io_timer_handler2,
.vectorno = STM32_IRQ_TIM3
.vectorno = STM32_IRQ_TIM3,
.dshot = {
.dma_base = DSHOT_DMA1_BASE,
.channel = DShot_Channel5,
.stream = DShot_Stream2,
.start_ccr_register = TIM_DMABASE_CCR3,
.channels_number = 2u /* CCR3 and CCR4 */
}
}
};
/*
* OUTPUTS:
* M3 : PA3 : TIM2_CH3