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543851db50
* Bidirectional DShot Co-authored-by: Julian Oes <julian@oes.ch> * f4/f1 support, not supported * fix f1 build target * sanity check timer_channel value, fix CCxNP ifdef, debug stuff * removed debug code, added define for H7 HAVE_GTIM_CCXNP * round robin sampling for less than 4 DMA * unlimited esc_status logging * dshot: fix formatting * dshot: add define for number of DMA channels to use This allows individual boards to override the number of DShot channels and hence avoid round robin capture of the RPM feedback. * ARK: enable 4 DMA channels for DShot on 6X * dshot: publish when all channels are updated This slows down the ESC_STATUS publication in the case of round robin capture. E.g. for 800 Hz output with one DMA channel, the ESC_STATUS is now published at 200 Hz. * dshot: avoid duplicate publications for bidir and telem Instead of publishing both bidirectional dshot updates as well as telemetry updates, we now combine the data from both streams, and publish whenever we get RPM updates, as the latter arrives with higher rate, e.g. 200 Hz with round robin, or faster otherwise. When combining the data, we take RPM from bidirectional dshot, and the rest from telemetry. When we have only one of the two, either telemetry or bidirectional dshot, we just publish that one. * boards: add ark fpv and pi6x BOARD_DMA_NUM_DSHOT_CHANNELS * dshot: turn off debug build --------- Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: alexklimaj <alex@arkelectron.com>
87 lines
3.6 KiB
C++
87 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_arch/io_timer_hw_description.h>
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/* Timer allocation
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*
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* TIM5_CH4 T FMU_CH1
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* TIM5_CH3 T FMU_CH2
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* TIM5_CH2 T FMU_CH3
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* TIM5_CH1 T FMU_CH4
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*
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* TIM8_CH1 T FMU_CH5
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* TIM8_CH2 T FMU_CH6
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* TIM8_CH3 T FMU_CH7
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* TIM8_CH4 T FMU_CH8
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*
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* TIM4_CH1 T FMU_CH9
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*
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* TIM1_CH1 T SPIX_SYNC > Pulse or GPIO strobe
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*
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* TIM2_CH3 T HEATER > PWM OUT or GPIO
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*
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* TIM3_CH1 T HRT_TIMER
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*
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*/
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constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
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initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer4),
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};
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constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
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initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
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initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
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initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortI, GPIO::Pin7}),
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initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel4}, {GPIO::PortI, GPIO::Pin2}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
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};
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constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
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initIOTimerChannelMapping(io_timers, timer_io_channels);
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constexpr io_timers_t spix_sync_timers[MAX_SPIX_SYNC_TIMERS] = {
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initIOTimer(Timer::Timer1),
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};
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constexpr timer_io_channels_t spix_sync_channels[MAX_SPIX_SYNC_TIMERS] = {
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initIOTimerChannel(spix_sync_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
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};
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