fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

dshot: fix bidirectional dshot stream sharing (#24996)

Browse Source 
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 GitHub
parent 6e7638c14b
commit bb423bc007
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 22 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

36
platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
View File

@ -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++) {