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dshot: fix bidirectional dshot stream sharing (#24996)

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Freeing the DMA stream in the hrt callback causes other peripherals on that DMA controller to lock up (namely GPS). Moving the free back into thread context, right before allocation, solves the problem
This commit is contained in:
Jacob Dahl 2025-06-10 00:36:45 -08:00 committed by Alex Klimaj
parent e3fecd96d5
commit b67c65bfe6
1 changed files with 22 additions and 14 deletions
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36
platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
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@ -206,7 +206,7 @@ static void init_timers_dma_up(void)
timer_configs[timer_index].dma_handle = stm32_dmachannel(io_timers[timer_index].dshot.dma_map_up);
if (timer_configs[timer_index].dma_handle == NULL) {
PX4_DEBUG("Failed to allocate Timer %u DMA UP", timer_index);
PX4_WARN("Failed to allocate Timer %u DMA UP", timer_index);
continue;
}
@ -214,12 +214,16 @@ static void init_timers_dma_up(void)
timer_configs[timer_index].initialized = true;
}
// Free the allocated DMA channels
for (uint8_t timer_index = 0; timer_index < MAX_IO_TIMERS; timer_index++) {
if (timer_configs[timer_index].dma_handle != NULL) {
stm32_dmafree(timer_configs[timer_index].dma_handle);
timer_configs[timer_index].dma_handle = NULL;
PX4_INFO("Freed DMA UP Timer Index %u", timer_index);
// Bidirectional DShot will free/allocate DMA stream on every update event. This is required
// in order to reconfigure the DMA stream between Timer Burst and CaptureCompare.
if (_bidirectional) {
// Free the allocated DMA channels
for (uint8_t timer_index = 0; timer_index < MAX_IO_TIMERS; timer_index++) {
if (timer_configs[timer_index].dma_handle != NULL) {
stm32_dmafree(timer_configs[timer_index].dma_handle);
timer_configs[timer_index].dma_handle = NULL;
PX4_INFO("Freed DMA UP Timer Index %u", timer_index);
}
}
}
}
@ -341,8 +345,15 @@ void up_dshot_trigger()
io_timer_set_dshot_burst_mode(timer_index, _dshot_frequency, channel_count);
// Allocate DMA
if (timer_configs[timer_index].dma_handle == NULL) {
if (_bidirectional) {
// Deallocate DMA from previous transaction
if (timer_configs[timer_index].dma_handle != NULL) {
stm32_dmastop(timer_configs[timer_index].dma_handle);
stm32_dmafree(timer_configs[timer_index].dma_handle);
timer_configs[timer_index].dma_handle = NULL;
}
// Allocate DMA
timer_configs[timer_index].dma_handle = stm32_dmachannel(io_timers[timer_index].dshot.dma_map_up);
if (timer_configs[timer_index].dma_handle == NULL) {
@ -502,11 +513,8 @@ static void capture_complete_callback(void *arg)
// Disable capture DMA
io_timer_capture_dma_req(timer_index, capture_channel, false);
if (timer_configs[timer_index].dma_handle != NULL) {
stm32_dmastop(timer_configs[timer_index].dma_handle);
stm32_dmafree(timer_configs[timer_index].dma_handle);
timer_configs[timer_index].dma_handle = NULL;
}
// Stop DMA (should already be finished)
stm32_dmastop(timer_configs[timer_index].dma_handle);
// Re-initialize all output channels on this timer
for (uint8_t output_channel = 0; output_channel < MAX_TIMER_IO_CHANNELS; output_channel++) {