From 543a057f80f705e0139e6762d3164b6235942c5d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Igor=20Mi=C5=A1i=C4=87?= <igy1000mb@gmail.com>
Date: Sat, 31 Aug 2019 12:03:08 +0200
Subject: [PATCH] fmu-v4: add dshot timer config

---
 boards/px4/fmu-v4/default.cmake                    |  1 +
 boards/px4/fmu-v4/nuttx-config/include/board.h     |  4 ++--
 boards/px4/fmu-v4/nuttx-config/nsh/defconfig       |  1 -
 .../px4/fmu-v4/nuttx-config/stackcheck/defconfig   |  1 -
 boards/px4/fmu-v4/src/board_config.h               |  3 +++
 boards/px4/fmu-v4/src/timer_config.c               | 14 ++++++++++++++
 6 files changed, 20 insertions(+), 4 deletions(-)

diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
index ba4dafbb2b..d189b479fd 100644
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@@ -23,6 +23,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		dshot
 		gps
 		heater
 		imu # all available imu drivers
diff --git a/boards/px4/fmu-v4/nuttx-config/include/board.h b/boards/px4/fmu-v4/nuttx-config/include/board.h
index 3c1a239dc4..cb68f6e3fa 100644
--- a/boards/px4/fmu-v4/nuttx-config/include/board.h
+++ b/boards/px4/fmu-v4/nuttx-config/include/board.h
@@ -236,8 +236,8 @@
 /* UART8 has no alternate pin config */
 
 /* UART RX DMA configurations */
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
-#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
+#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1	/*DMA2 Stream 2*/
+#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1	/*DMA2 Stream 1*/
 
 /*
  * CAN
diff --git a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
index 7a93c4c594..9f876c0803 100644
--- a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
@@ -217,7 +217,6 @@ CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=300
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=300
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_RXDMA=y
diff --git a/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
index 7afa549107..8e01a66342 100644
--- a/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
@@ -211,7 +211,6 @@ CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=300
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=300
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_RXDMA=y
diff --git a/boards/px4/fmu-v4/src/board_config.h b/boards/px4/fmu-v4/src/board_config.h
index a6fe9ee29c..26d75ee013 100644
--- a/boards/px4/fmu-v4/src/board_config.h
+++ b/boards/px4/fmu-v4/src/board_config.h
@@ -355,6 +355,9 @@
 #define BOARD_DMA_ALLOC_POOL_SIZE    5120
 
 #define BOARD_HAS_ON_RESET 1
+
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
+
 __BEGIN_DECLS
 
 /****************************************************************************************************
diff --git a/boards/px4/fmu-v4/src/timer_config.c b/boards/px4/fmu-v4/src/timer_config.c
index 57cd33ec7c..97988c3434 100644
--- a/boards/px4/fmu-v4/src/timer_config.c
+++ b/boards/px4/fmu-v4/src/timer_config.c
@@ -60,6 +60,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 3,
 		.handler = io_timer_handler0,
 		.vectorno =  STM32_IRQ_TIM1CC,
+		.dshot = {
+			.dma_base = DSHOT_DMA2_BASE,
+			.channel = DShot_Channel6,
+			.stream = DShot_Stream5,
+			.start_ccr_register = TIM_DMABASE_CCR1,
+			.channels_number = 4u /* CCR1, CCR2, CCR3 and CCR4 */
+		}
 
 	},
 	{
@@ -71,6 +78,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 5,
 		.handler = io_timer_handler1,
 		.vectorno =  STM32_IRQ_TIM4,
+		.dshot = {
+			.dma_base = DSHOT_DMA1_BASE,
+			.channel = DShot_Channel2,
+			.stream = DShot_Stream6,
+			.start_ccr_register = TIM_DMABASE_CCR2,
+			.channels_number = 2u /* CCR2 and CCR3 */
+		}
 	}
 };