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boards: fixup timers and DMA for KakuteH7-Wing

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This commit is contained in:
Julian Oes
2026-01-27 13:38:03 +13:00
committed by Jacob Dahl
parent 3ef8b10987
commit b26b3ac29d
2 changed files with 13 additions and 9 deletions
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boards/holybro/kakuteh7-wing/nuttx-config/include/board_dma_map.h
+7 -5
View File
@@ -58,11 +58,13 @@
//#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 PX4IO */
//#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 PX4IO */
// Assigned in timer_config.cpp
// TODO
// Timer 4 /* 7 DMA1:32 TIM4UP */
// Timer 5 /* 8 DMA1:50 TIM5UP */
// Dynamically assigned in timer_config.cpp for DShot (allocated/freed per cycle):
// Timer 1 TIM1UP (burst) + TIM1CH1-4 (capture)
// Timer 2 TIM2UP (burst) + TIM2CH1-4 (capture)
// Timer 3 TIM3UP (burst) + TIM3CH1-4 (capture)
// Timer 4 TIM4UP (burst) + TIM4CH1-3 (capture, CH4 has no DMA)
// Timer 5 TIM5UP (burst) + TIM5CH1-4 (capture)
// Timer 15 - no TIM15UP DMA, cannot do DShot
// DMAMUX2 Using at most 8 Channels on DMA2 -------- Assigned
// V
boards/holybro/kakuteh7-wing/src/timer_config.cpp
+6 -4
View File
@@ -38,18 +38,20 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
initIOTimer(Timer::Timer15),
initIOTimer(Timer::Timer3),
initIOTimer(Timer::Timer2),
initIOTimer(Timer::Timer15), // Note: Timer15 has no TIM_UP DMA on STM32H7, cannot do DShot
initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
};
// Note: Timer4 Channel4 has no DMAMUX mapping on STM32H7, so BDShot telemetry capture
// is not available on that channel. DShot output still works (uses TIM_UP DMA for burst).
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), // no BDShot capture
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),