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drivers: dshot: prepare to extend for bidrectional dshot

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This commit is contained in:
Peter van der Perk
2024-05-30 04:56:42 -04:00
committed by David Sidrane
parent 2de0af52e8
commit e2969952d3
6 changed files with 119 additions and 15 deletions
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platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c
+21 -4
View File
@@ -89,6 +89,7 @@ static uint32_t dshot_tcmp;
static uint32_t bdshot_tcmp;
static uint32_t dshot_mask;
static uint32_t bdshot_recv_mask;
static uint32_t bdshot_parsed_recv_mask;
static inline uint32_t flexio_getreg32(uint32_t offset)
{
@@ -350,13 +351,14 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
return channel_mask;
}
void up_bdshot_erpm(void)
{
uint32_t value;
uint32_t erpm;
uint32_t csum_data;
bdshot_parsed_recv_mask = 0;
// Decode each individual channel
for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
if (bdshot_recv_mask & (1 << channel)) {
@@ -391,13 +393,25 @@ void up_bdshot_erpm(void)
}
}
}
bdshot_parsed_recv_mask = bdshot_recv_mask;
}
int up_bdshot_get_erpm(uint8_t channel, int *erpm)
{
if (bdshot_parsed_recv_mask & (1 << channel)) {
*erpm = dshot_inst[channel].erpm;
return 0;
}
return -1;
}
void up_bdshot_status(void)
{
/* Call this function to calculate last ERPM ideally a workqueue does this.
For now this to debug using the dshot status cli command */
up_bdshot_erpm();
for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
@@ -424,6 +438,9 @@ void up_dshot_trigger(void)
}
}
// Calc data now since we're not event driven
up_bdshot_erpm();
bdshot_recv_mask = 0x0;
clear_timer_status_flags(0xFF);
platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+5 -1
View File
@@ -82,7 +82,7 @@ static uint8_t dshot_burst_buffer_array[DSHOT_TIMERS * DSHOT_BURST_BUFFER_SIZE(M
px4_cache_aligned_data() = {};
static uint32_t *dshot_burst_buffer[DSHOT_TIMERS] = {};
int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot)
{
unsigned buffer_offset = 0;
@@ -152,6 +152,10 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
return ret_val == OK ? channels_init_mask : ret_val;
}
void up_bdshot_status(void)
{
}
void up_dshot_trigger(void)
{
for (uint8_t timer = 0; (timer < DSHOT_TIMERS); timer++) {