[WIP] Dev dshot

boards/omnibus/f4sd/nuttx-config/include/board.h

@@ -256,7 +256,7 @@
 #define GPIO_USART1_TX GPIO_USART1_TX_1
 
 /* USART1 require a RX DMA configuration */
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
+#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1
 
 /* USART3:
  *

boards/omnibus/f4sd/src/board_config.h

@@ -267,6 +267,8 @@
 #define BOARD_ENABLE_CONSOLE_BUFFER
 #define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
 
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {2, 3, 1, 0};
+
 __BEGIN_DECLS
 
 /****************************************************************************************************

boards/omnibus/f4sd/src/timer_config.c

@@ -59,7 +59,14 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.first_channel_index = 0,
 		.last_channel_index = 1,
 		.handler = io_timer_handler1,
-		.vectorno =  STM32_IRQ_TIM2
+		.vectorno =  STM32_IRQ_TIM2,
+		.dshot = {
+			.dma_base = DSHOT_DMA1_BASE,
+			.channel = DShot_Channel3,
+			.stream = DShot_Stream1,
+			.start_ccr_register = TIM_DMABASE_CCR3,
+			.channels_number = 2u /* CCR3 and CCR4 */
+		}
 	},
 	{
 		.base = STM32_TIM3_BASE,
@@ -69,9 +76,17 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.first_channel_index = 2,
 		.last_channel_index = 3,
 		.handler = io_timer_handler2,
-		.vectorno =  STM32_IRQ_TIM3
+		.vectorno =  STM32_IRQ_TIM3,
+		.dshot = {
+			.dma_base = DSHOT_DMA1_BASE,
+			.channel = DShot_Channel5,
+			.stream = DShot_Stream2,
+			.start_ccr_register = TIM_DMABASE_CCR3,
+			.channels_number = 2u /* CCR3 and CCR4 */
+		}
 	}
 };
+
 /*
  * OUTPUTS:
  *  M3 : PA3 : TIM2_CH3

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

boards/px4/fmu-v4/src/timer_config.c

@@ -47,6 +47,7 @@
 
 #include <drivers/drv_pwm_output.h>
 #include <drivers/stm32/drv_io_timer.h>
+#include <drivers/stm32/drv_dshot.h>
 
 #include "board_config.h"
 
@@ -60,6 +61,13 @@ __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 +79,13 @@ __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 */
+		}
 	}
 };
 

src/drivers/drv_pwm_output.h

@@ -292,6 +292,17 @@ struct pwm_output_rc_config {
  */
 #define PWM_SERVO_GET_RATEGROUP(_n) _PX4_IOC(_PWM_SERVO_BASE, 0x70 + _n)
 
+/** specific rates for configuring the timer for OneShot or PWM */
+#define	PWM_RATE_ONESHOT			0u
+#define	PWM_RATE_LOWER_LIMIT		1u
+#define	PWM_RATE_UPPER_LIMIT		10000u
+
+/** Dshot PWM frequency */
+#define DSHOT1200					1200000u	//Hz
+#define DSHOT600					600000u		//Hz
+#define DSHOT300					300000u		//Hz
+#define DSHOT150					150000u		//Hz
+
 /*
  * Low-level PWM output interface.
  *
@@ -378,4 +389,47 @@ __EXPORT extern int	up_pwm_servo_set(unsigned channel, servo_position_t value);
  */
 __EXPORT extern servo_position_t up_pwm_servo_get(unsigned channel);
 
+/**
+ * Intialise the Dshot outputs using the specified configuration.
+ *
+ * @param	channel_mask	Bitmask of channels (LSB = channel 0) to enable.
+ *			This allows some of the channels to remain configured
+ *			as GPIOs or as another function.
+ * @param	dshot_pwm_freq is frequency of DSHOT signal. Usually DSHOT1200, DSHOT600, DSHOT300 or DSHOT150
+ * @return	OK on success.
+ */
+__EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq);
+
+/**
+ * Set the current dshot throttle value for a channel (motor).
+ *
+ * @param channel	The channel to set.
+ * @param throttle	The output dshot throttle value in [0, 1999].
+ * @param telemetry If true, request telemetry from that motor
+ */
+__EXPORT extern void up_dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry);
+
+/**
+ * Send DShot command to a channel (motor).
+ *
+ * @param channel	The channel to set.
+ * @param command	dshot_command_t
+ */
+__EXPORT extern void up_dshot_motor_command(unsigned channel, uint16_t command);
+
+/**
+ * Trigger dshot data transfer.
+ */
+__EXPORT extern void up_dshot_trigger(void);
+
+/**
+ * Arm or disarm dshot outputs (This will enable/disable complete timer for safety purpose.).
+ *
+ * When disarmed, dshot output no pulse.
+ *
+ * @param armed		If true, outputs are armed; if false they
+ *			are disarmed.
+ */
+__EXPORT extern int up_dshot_arm(bool armed);
+
 __END_DECLS

src/drivers/stm32/CMakeLists.txt

@@ -38,6 +38,7 @@ add_library(drivers_arch
 	drv_pwm_trigger.c
 	drv_input_capture.c
 	drv_led_pwm.cpp
+	drv_dshot.c
 )
 add_dependencies(drivers_arch prebuild_targets)
 target_link_libraries(drivers_arch PRIVATE drivers_board)