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bidirectional dshot #6

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bidirectional dshot #6

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a5b84c3
added function to get DMA map for Timer Channel
dakejahl Oct 16, 2024
08eb6b4
brought over julians work
dakejahl Oct 16, 2024
e1fa555
fix dshot impl, guard against unused channels
dakejahl Oct 17, 2024
0b700c7
increase esc_status logging rate
dakejahl Oct 17, 2024
700fbcc
staging massive rewrite
dakejahl Oct 18, 2024
90818e8
all channel dma callbacks are working but capture_buffer data is all …
dakejahl Oct 18, 2024
d5a5f61
it seems that freeing DMA in the dma callback context does not work
dakejahl Oct 19, 2024
d56fcc4
a bunch of debugging
dakejahl Oct 21, 2024
e6bf230
it's working now
dakejahl Oct 22, 2024
3c1f984
clean up, also tried adding separate callback functions for hrt callb…
dakejahl Oct 22, 2024
c728356
remove commented out stuff, this works for spurts at a time and then …
dakejahl Oct 23, 2024
a0d42b8
everything seems to be working except for cache
dakejahl Oct 24, 2024
a7d7f7a
4 channel DMA transfer doesn't work, but any one of the single channe…
dakejahl Oct 25, 2024
d0fc158
it works! Switched from burst DMA to DMA on each channel, cleaned up
dakejahl Oct 25, 2024
a37702c
minor clean up
dakejahl Oct 25, 2024
90c77e5
clean up and formatting
dakejahl Oct 25, 2024
df73a84
make format
dakejahl Oct 25, 2024
a158b75
individual timer channel status reporting
dakejahl Oct 25, 2024
43dc086
remove debug definitions
dakejahl Oct 25, 2024
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4 changes: 4 additions & 0 deletions boards/ark/fmu-v6x/src/board_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -249,6 +249,10 @@
#define GPIO_FMU_CH7 /* PH6 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
#define GPIO_FMU_CH8 /* PH9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)

// JAKE: debugging logic analyzer
// #define GPIO_FMU_CH7 /* PH6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)
// #define GPIO_FMU_CH8 /* PH9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)

#define GPIO_FMU_CAP /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
#define GPIO_SPIX_SYNC /* PE9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)

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3 changes: 0 additions & 3 deletions platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/io_timer.h
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Expand Up @@ -147,9 +147,6 @@ __EXPORT int io_timer_free_channel(unsigned channel);
__EXPORT int io_timer_get_channel_mode(unsigned channel);
__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
__EXPORT extern void io_timer_trigger(void);
__EXPORT void io_timer_update_dma_req(uint8_t timer, bool enable);

__EXPORT extern int io_timer_set_dshot_mode(uint8_t timer, unsigned dshot_pwm_rate, uint8_t dma_burst_length);

/**
* Returns the pin configuration for a specific channel, to be used as GPIO output.
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2 changes: 1 addition & 1 deletion platforms/nuttx/src/px4/stm/stm32_common/dshot/CMakeLists.txt
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Expand Up @@ -34,4 +34,4 @@
px4_add_library(arch_dshot
dshot.c
)
target_compile_options(arch_dshot PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_compile_options(arch_dshot PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -Wno-error=unused-function -Wno-error=unused-variable)
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