From ac82c5114bc0ab8810b73df91ed7b861a6cab8c7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Sat, 31 Aug 2019 12:03:41 +0200
Subject: [PATCH] omnibusf4sd: add dshot timer config

---
 boards/omnibus/f4sd/default.cmake             |  1 +
 .../omnibus/f4sd/nuttx-config/include/board.h |  2 +-
 .../omnibus/f4sd/nuttx-config/nsh/defconfig   |  1 -
 boards/omnibus/f4sd/src/board_config.h        |  2 ++
 boards/omnibus/f4sd/src/timer_config.c        | 19 +++++++++++++++++--
 5 files changed, 21 insertions(+), 4 deletions(-)

diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake
index 3e657ec810..d75071d668 100644
--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@@ -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
diff --git a/boards/omnibus/f4sd/nuttx-config/include/board.h b/boards/omnibus/f4sd/nuttx-config/include/board.h
index 252427c48c..65aa60c2a4 100644
--- a/boards/omnibus/f4sd/nuttx-config/include/board.h
+++ b/boards/omnibus/f4sd/nuttx-config/include/board.h
@@ -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:
  *
diff --git a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
index 41d074536a..f3d03a70fc 100644
--- a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
+++ b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
@@ -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
diff --git a/boards/omnibus/f4sd/src/board_config.h b/boards/omnibus/f4sd/src/board_config.h
index 2e1dce8316..f3d5aa3800 100644
--- a/boards/omnibus/f4sd/src/board_config.h
+++ b/boards/omnibus/f4sd/src/board_config.h
@@ -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
 
 /****************************************************************************************************
diff --git a/boards/omnibus/f4sd/src/timer_config.c b/boards/omnibus/f4sd/src/timer_config.c
index 615a728522..cbfae03556 100644
--- a/boards/omnibus/f4sd/src/timer_config.c
+++ b/boards/omnibus/f4sd/src/timer_config.c
@@ -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