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fmu-v4: add dshot timer config

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This commit is contained in:
Igor Mišić
2019-08-31 12:03:08 +02:00
committed by Beat Küng
parent ac82c5114b
commit 543a057f80
6 changed files with 20 additions and 4 deletions
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1
boards/px4/fmu-v4/default.cmake
View File

@@ -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

4
boards/px4/fmu-v4/nuttx-config/include/board.h
View File

@@ -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

1
boards/px4/fmu-v4/nuttx-config/nsh/defconfig
View File

@@ -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

1
boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
View File

@@ -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

3
boards/px4/fmu-v4/src/board_config.h
View File

@@ -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
/****************************************************************************************************

14
boards/px4/fmu-v4/src/timer_config.c
View File

@@ -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 */
}
}
};