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fmuv6xrt implement bidirectional dshot #22583

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merged 10 commits into from
May 30, 2024
Merged

fmuv6xrt implement bidirectional dshot #22583

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21b03c8
px4_fmuv6xrt: bidirectional dshot driver
PetervdPerk-NXP Dec 19, 2023
880d044
drivers: dshot: prepare to extend for bidrectional dshot
PetervdPerk-NXP Dec 22, 2023
0929161
imxrt: dshot add 1060 support and use channels instead of timers
PetervdPerk Mar 10, 2024
c725171
dshot: fix clearing out esc status
PetervdPerk-NXP Mar 21, 2024
e9f657b
imxrt: dshot improve state machine reduce's no response count
PetervdPerk-NXP Mar 27, 2024
7e5ff80
dshot: bdshot fix esc offline/online checks
PetervdPerk-NXP Mar 27, 2024
a5b7460
imxrt: move flexio irq handler to itcm
PetervdPerk-NXP Apr 28, 2024
5dc5e54
imxrt: dshot fix erpm calculation by implementing 3-bit exponent and …
PetervdPerk-NXP May 1, 2024
c011cc0
dshot: refactoring
PetervdPerk-NXP May 23, 2024
4ca8b8f
dshot: telemetry esc_status use sequential numbering for each motor
PetervdPerk-NXP May 29, 2024
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16 changes: 12 additions & 4 deletions Tools/module_config/output_groups_from_timer_config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,12 +54,21 @@ def extract_timer_from_channel(line, timer_names):

return None

def imxrt_is_dshot(line):

# NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
search = re.search('(initIOPWMDshot)', line, re.IGNORECASE)
if search:
return True

return False

def get_timer_groups(timer_config_file, verbose=False):
with open(timer_config_file, 'r') as f:
timer_config = f.read()

# timers
dshot_support = {} # key: timer
dshot_support = {str(i): False for i in range(16)}
timers_start_marker = 'io_timers_t io_timers'
timers_start = timer_config.find(timers_start_marker)
if timers_start == -1:
Expand All @@ -78,10 +87,9 @@ def get_timer_groups(timer_config_file, verbose=False):
if timer_type == 'imxrt':
if verbose: print('imxrt timer found')
timer_names.append(timer)
if imxrt_is_dshot(line):
dshot_support[str(len(timers))] = True
timers.append(str(len(timers)))
dshot_support = {str(i): False for i in range(16)}
for i in range(8): # First 8 channels support dshot
dshot_support[str(i)] = True
elif timer:
if verbose: print('found timer def: {:}'.format(timer))
dshot_support[timer] = 'DMA' in line
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4 changes: 4 additions & 0 deletions boards/px4/fmu-v6xrt/nuttx-config/include/board.h
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Expand Up @@ -267,6 +267,10 @@

// This is the ENET_1G interface.

/* Dshot Disambiguation *******************************************************/

#define IOMUX_DSHOT_DEFAULT (IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_FAST)

// Compile time selection
#if defined(CONFIG_ETH0_PHY_TJA1103)
# define BOARD_PHY_ADDR (18)
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1 change: 0 additions & 1 deletion boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig
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Expand Up @@ -87,7 +87,6 @@ CONFIG_IMXRT_ENET=y
CONFIG_IMXRT_FLEXCAN1=y
CONFIG_IMXRT_FLEXCAN2=y
CONFIG_IMXRT_FLEXCAN3=y
CONFIG_IMXRT_FLEXIO1=y
CONFIG_IMXRT_FLEXSPI2=y
CONFIG_IMXRT_GPIO13_IRQ=y
CONFIG_IMXRT_GPIO1_0_15_IRQ=y
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1 change: 1 addition & 0 deletions boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
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Expand Up @@ -6,6 +6,7 @@
*(.text.board_autoled_on)
*(.text.clock_timer)
*(.text.exception_common)
*(.text.flexio_irq_handler)
*(.text.hrt_absolute_time)
*(.text.hrt_call_enter)
*(.text.hrt_tim_isr)
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2 changes: 1 addition & 1 deletion boards/px4/fmu-v6xrt/src/imxrt_clockconfig.c
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Expand Up @@ -114,7 +114,7 @@ const struct clock_configuration_s g_initial_clkconfig = {
.div = 1,
.mux = ACMP_CLK_ROOT_OSC_RC_48M_DIV2,
},
.flexio1_clk_root =
.flexio1_clk_root = /* 240 / 2 = 120Mhz */
{
.enable = 1,
.div = 2,
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32 changes: 16 additions & 16 deletions boards/px4/fmu-v6xrt/src/timer_config.cpp
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Expand Up @@ -91,29 +91,29 @@


constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO23_1, 23),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO25_1, 25),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO27_1, 27),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO06_1, 6),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO08_1, 8),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO10_1, 10),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3, GPIO_FLEXIO1_FLEXIO19_1, 19),
initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO29_1, 29),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3),
initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0),
initIOPWM(PWM::FlexPWM3, PWM::Submodule1),
initIOPWM(PWM::FlexPWM3, PWM::Submodule3),
initIOPWM(PWM::FlexPWM4, PWM::Submodule0),
initIOPWM(PWM::FlexPWM4, PWM::Submodule1),
};

constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
/* FMU_CH1 */ initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23),
/* FMU_CH2 */ initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25),
/* FMU_CH3 */ initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27),
/* FMU_CH4 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06),
/* FMU_CH5 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08),
/* FMU_CH6 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10),
/* FMU_CH7 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19),
/* FMU_CH8 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29),
/* FMU_CH1 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23, GPIO_FLEXIO1_FLEXIO23_1 | IOMUX_DSHOT_DEFAULT, 23),
/* FMU_CH2 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25, GPIO_FLEXIO1_FLEXIO25_1 | IOMUX_DSHOT_DEFAULT, 25),
/* FMU_CH3 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27, GPIO_FLEXIO1_FLEXIO27_1 | IOMUX_DSHOT_DEFAULT, 27),
/* FMU_CH4 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06, GPIO_FLEXIO1_FLEXIO06_1 | IOMUX_DSHOT_DEFAULT, 6),
/* FMU_CH5 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08, GPIO_FLEXIO1_FLEXIO08_1 | IOMUX_DSHOT_DEFAULT, 8),
/* FMU_CH6 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10, GPIO_FLEXIO1_FLEXIO10_1 | IOMUX_DSHOT_DEFAULT, 10),
/* FMU_CH7 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19, GPIO_FLEXIO1_FLEXIO19_1 | IOMUX_DSHOT_DEFAULT, 19),
/* FMU_CH8 */ initIOTimerChannelDshot(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29, GPIO_FLEXIO1_FLEXIO29_1 | IOMUX_DSHOT_DEFAULT, 29),
/* FMU_CH9 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_31),
/* FMU_CH10 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_21),
/* FMU_CH11 */ initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_00),
Expand Down
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