durandal-v1: enable dshot

boards/holybro/durandal-v1/default.cmake

@@ -24,7 +24,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		# dshot -- todo needslooking at
+		dshot
 		gps
 		heater
 		#imu # all available imu drivers

boards/holybro/durandal-v1/nuttx-config/include/board.h

@@ -374,8 +374,6 @@
 
 /* UART RX DMA configurations */
 
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
-#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
 #define DMAMAP_UART8_RX         DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
 #define DMAMAP_UART8_TX         DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */
 

boards/holybro/durandal-v1/src/board_config.h

@@ -340,6 +340,8 @@
 
 #define DIRECT_INPUT_TIMER_CHANNELS  5
 
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
+
 /* User GPIOs
  *
  * GPIO0-4 are the PWM servo outputs.

boards/holybro/durandal-v1/src/timer_config.c

@@ -60,7 +60,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 3,
 		.handler = io_timer_handler0,
 		.vectorno =  STM32_IRQ_TIMCC,
-
+		.dshot = {
+			.dma_base = STM32_DMA1_BASE,
+			.dmamap = DMAMAP_DMA12_TIM1UP_0,
+			.start_ccr_register = TIM_DMABASE_CCR1,
+			.channels_number = 4u /* CCR1, CCR2, CCR3 and CCR4 */
+		}
 	},
 	{
 		.base = STM32_TIM4_BASE,
@@ -71,6 +76,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 4,
 		.handler = io_timer_handler1,
 		.vectorno =  STM32_IRQ_TIM4,
+		.dshot = {
+			.dma_base = STM32_DMA1_BASE,
+			.dmamap = DMAMAP_DMA12_TIM4UP_0,
+			.start_ccr_register = TIM_DMABASE_CCR2,
+			.channels_number = 1u /* CCR2 */
+		}
 	},
 };