src/main/drivers/pwm_output_dshot_hal_hal.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <math.h>
  24 #include <string.h>
  25
  26 #include "platform.h"
  27
  28 #ifdef USE_DSHOT
  29
  30 #include "drivers/dma_reqmap.h"
  31 #include "drivers/io.h"
  32 #include "timer.h"
  33 #include "pwm_output.h"
  34 #include "drivers/dshot.h"
  35 #include "drivers/dshot_dpwm.h"
  36 #include "drivers/dshot_command.h"
  37 #include "drivers/nvic.h"
  38 #include "dma.h"
  39 #include "rcc.h"
  40 #include "pg/timerup.h"
  41
  42 static HAL_StatusTypeDef result;
  43
  44 static uint8_t dmaMotorTimerCount = 0;
  45 static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
  46 static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
  47
  48 motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
  49 {
  50     return &dmaMotors[index];
  51 }
  52
  53 uint8_t getTimerIndex(TIM_TypeDef *timer)
  54 {
  55     for (int i = 0; i < dmaMotorTimerCount; i++) {
  56         if (dmaMotorTimers[i].timer == timer) {
  57             return i;
  58         }
  59     }
  60     dmaMotorTimers[dmaMotorTimerCount++].timer = timer;
  61     return dmaMotorTimerCount - 1;
  62 }
  63
  64 // TIM_CHANNEL_x TIM_CHANNEL_x/4 TIM_DMA_ID_CCx TIM_DMA_CCx
  65 // 0x0           0               1              0x0200
  66 // 0x4           1               2              0x0400
  67 // 0x8           2               3              0x0800
  68 // 0xC           3               4              0x1000
  69 //
  70 // TIM_CHANNEL_TO_TIM_DMA_ID_CC = (TIM_CHANNEL_x / 4) + 1
  71 // TIM_CHANNEL_TO_TIM_DMA_CC = 0x200 << (TIM_CHANNEL_x / 4)
  72
  73 // pwmChannelDMAStart
  74 // A variant of HAL_TIM_PWM_Start_DMA/HAL_TIMEx_PWMN_Start_DMA that only disables DMA on a timer channel:
  75 //   1. Configure and enable DMA Stream
  76 //   2. Enable DMA request on a timer channel
  77
  78 void pwmChannelDMAStart(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length)
  79 {
  80     switch (Channel) {
  81     case TIM_CHANNEL_1:
  82         HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)pData, (uint32_t)&htim->Instance->CCR1, Length);
  83         __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC1);
  84         break;
  85     case TIM_CHANNEL_2:
  86         HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC2], (uint32_t)pData, (uint32_t)&htim->Instance->CCR2, Length);
  87         __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC2);
  88         break;
  89     case TIM_CHANNEL_3:
  90         HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC3], (uint32_t)pData, (uint32_t)&htim->Instance->CCR3,Length);
  91         __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC3);
  92         break;
  93     case TIM_CHANNEL_4:
  94         HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC4], (uint32_t)pData, (uint32_t)&htim->Instance->CCR4, Length);
  95         __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC4);
  96         break;
  97     }
  98 }
  99
 100 // pwmChannelDMAStop
 101 // A variant of HAL_TIM_PWM_Stop_DMA/HAL_TIMEx_PWMN_Stop_DMA that only disables DMA on a timer channel
 102 //   1. Disable the TIM Capture/Compare 1 DMA request
 103
 104 void pwmChannelDMAStop(TIM_HandleTypeDef *htim, uint32_t Channel)
 105 {
 106     switch (Channel) {
 107     case TIM_CHANNEL_1:
 108         __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1);
 109         break;
 110     case TIM_CHANNEL_2:
 111         __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC2);
 112         break;
 113     case TIM_CHANNEL_3:
 114         __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC3);
 115         break;
 116     case TIM_CHANNEL_4:
 117         __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC4);
 118         break;
 119     }
 120 }
 121
 122 // pwmBurstDMAStart
 123 // A variant of HAL_TIM_DMABurst_WriteStart that can handle multiple bursts.
 124 // (HAL_TIM_DMABurst_WriteStart can only handle single burst)
 125
 126 void pwmBurstDMAStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, uint32_t BurstRequestSrc, uint32_t BurstUnit, uint32_t* BurstBuffer, uint32_t BurstLength)
 127 {
 128     // Setup DMA stream
 129     HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_UPDATE], (uint32_t)BurstBuffer, (uint32_t)&htim->Instance->DMAR, BurstLength);
 130
 131     // Configure burst mode DMA */
 132    htim->Instance->DCR = BurstBaseAddress | BurstUnit;
 133
 134     // Enable burst mode DMA
 135     __HAL_TIM_ENABLE_DMA(htim, BurstRequestSrc);
 136 }
 137
 138 FAST_CODE void pwmWriteDshotInt(uint8_t index, uint16_t value)
 139 {
 140     motorDmaOutput_t *const motor = &dmaMotors[index];
 141
 142     if (!motor->configured) {
 143         return;
 144     }
 145
 146     /*If there is a command ready to go overwrite the value and send that instead*/
 147     if (dshotCommandIsProcessing()) {
 148         value = dshotCommandGetCurrent(index);
 149         if (value) {
 150             motor->protocolControl.requestTelemetry = true;
 151         }
 152     }
 153
 154     if (!motor->timerHardware
 155 #ifndef USE_DMA_SPEC
 156         // When USE_DMA_SPEC is in effect, motor->timerHardware remains NULL if valid DMA is not assigned.
 157         || !motor->timerHardware->dmaRef
 158 #endif
 159     )
 160     {
 161         return;
 162     }
 163
 164     motor->protocolControl.value = value;
 165
 166     uint16_t packet = prepareDshotPacket(&motor->protocolControl);
 167     uint8_t bufferSize;
 168
 169 #ifdef USE_DSHOT_DMAR
 170     if (useBurstDshot) {
 171         bufferSize = loadDmaBuffer(&motor->timer->dmaBurstBuffer[timerLookupChannelIndex(motor->timerHardware->channel)], 4, packet);
 172         motor->timer->dmaBurstLength = bufferSize * 4;
 173     } else
 174 #endif
 175     {
 176         bufferSize = loadDmaBuffer(motor->dmaBuffer, 1, packet);
 177
 178         pwmChannelDMAStart(&motor->TimHandle, motor->timerHardware->channel, motor->dmaBuffer, bufferSize);
 179     }
 180 }
 181
 182 void pwmCompleteDshotMotorUpdate(void)
 183 {
 184     // If there is a dshot command loaded up, time it correctly with motor update
 185
 186     if (!dshotCommandQueueEmpty() && !dshotCommandOutputIsEnabled(dshotPwmDevice.count)) {
 187         return;
 188     }
 189
 190 #ifdef USE_DSHOT_DMAR
 191     if (useBurstDshot) {
 192         for (int i = 0; i < dmaMotorTimerCount; i++) {
 193             motorDmaTimer_t *burstDmaTimer = &dmaMotorTimers[i];
 194
 195             // Transfer CCR1 through CCR4 for each burst
 196             pwmBurstDMAStart(&burstDmaTimer->timHandle,
 197                     TIM_DMABASE_CCR1, TIM_DMA_UPDATE, TIM_DMABURSTLENGTH_4TRANSFERS,
 198                     (uint32_t*)burstDmaTimer->dmaBurstBuffer, burstDmaTimer->dmaBurstLength);
 199         }
 200     } else
 201 #endif
 202     {
 203         // XXX Empty for non-burst?
 204     }
 205 }
 206
 207 FAST_IRQ_HANDLER static void motor_DMA_IRQHandler(dmaChannelDescriptor_t* descriptor)
 208 {
 209     if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
 210
 211 #ifdef USE_DSHOT_DMAR
 212         if (useBurstDshot) {
 213             motorDmaTimer_t *burstDmaTimer = &dmaMotorTimers[descriptor->userParam];
 214
 215             HAL_TIM_DMABurst_WriteStop(&burstDmaTimer->timHandle, TIM_DMA_UPDATE);
 216             HAL_DMA_IRQHandler(&burstDmaTimer->hdma_tim);
 217         } else
 218 #endif
 219         {
 220             motorDmaOutput_t * const motor = &dmaMotors[descriptor->userParam];
 221
 222             pwmChannelDMAStop(&motor->TimHandle,motor->timerHardware->channel);
 223             HAL_DMA_IRQHandler(motor->TimHandle.hdma[motor->timerDmaIndex]);
 224         }
 225
 226         DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
 227     }
 228 }
 229
 230 bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
 231 {
 232     dmaResource_t *dmaRef = NULL;
 233     uint32_t dmaChannel;
 234
 235 #ifdef USE_DMA_SPEC
 236     const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpecByTimer(timerHardware);
 237
 238     if (dmaSpec) {
 239         dmaRef = dmaSpec->ref;
 240         dmaChannel = dmaSpec->channel;
 241     }
 242 #else
 243     dmaRef = timerHardware->dmaRef;
 244     dmaChannel = timerHardware->dmaChannel;
 245 #endif
 246
 247 #ifdef USE_DSHOT_DMAR
 248     if (useBurstDshot) {
 249 #ifdef USE_DMA_SPEC
 250         uint8_t timnum = timerGetTIMNumber(timerHardware->tim);
 251         dmaoptValue_t dmaopt = timerUpConfig(timnum - 1)->dmaopt;
 252         const dmaChannelSpec_t *dmaChannelSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_TIMUP, timnum - 1, dmaopt);
 253         dmaRef = dmaChannelSpec->ref;
 254         dmaChannel = dmaChannelSpec->channel;
 255 #else
 256         dmaRef = timerHardware->dmaTimUPRef;
 257         dmaChannel = timerHardware->dmaTimUPChannel;
 258 #endif
 259     }
 260 #endif
 261
 262     if (dmaRef == NULL) {
 263         return false;
 264     }
 265
 266     dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(dmaRef);
 267
 268     bool dmaIsConfigured = false;
 269 #ifdef USE_DSHOT_DMAR
 270     if (useBurstDshot) {
 271         const resourceOwner_t *owner = dmaGetOwner(dmaIdentifier);
 272         if (owner->owner == OWNER_TIMUP && owner->resourceIndex == timerGetTIMNumber(timerHardware->tim)) {
 273             dmaIsConfigured = true;
 274         } else if (!dmaAllocate(dmaIdentifier, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim))) {
 275             return false;
 276         }
 277     } else
 278 #endif
 279     {
 280         if (!dmaAllocate(dmaIdentifier, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex))) {
 281             return false;
 282         }
 283     }
 284
 285     motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
 286     motor->timerHardware = timerHardware;
 287
 288     TIM_TypeDef *timer = timerHardware->tim; // "timer" is confusing; "tim"?
 289     const IO_t motorIO = IOGetByTag(timerHardware->tag);
 290     uint8_t pupMode = (output & TIMER_OUTPUT_INVERTED) ? GPIO_PULLDOWN : GPIO_PULLUP;
 291 #ifdef USE_DSHOT_TELEMETRY
 292     if (useDshotTelemetry) {
 293         output ^= TIMER_OUTPUT_INVERTED;
 294     }
 295 #endif
 296
 297     motor->iocfg = IO_CONFIG(GPIO_MODE_AF_PP, GPIO_SPEED_FREQ_LOW, pupMode);
 298     const uint8_t timerIndex = getTimerIndex(timer);
 299     const bool configureTimer = (timerIndex == dmaMotorTimerCount - 1);
 300
 301     IOInit(motorIO, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
 302     IOConfigGPIOAF(motorIO, motor->iocfg, timerHardware->alternateFunction);
 303
 304     // Configure time base
 305
 306     if (configureTimer) {
 307         RCC_ClockCmd(timerRCC(timer), ENABLE);
 308
 309         motor->TimHandle.Instance = timerHardware->tim; // timer
 310         motor->TimHandle.Init.Prescaler = (uint16_t)(lrintf((float) timerClock(timer) / getDshotHz(pwmProtocolType) + 0.01f) - 1);
 311         motor->TimHandle.Init.Period = pwmProtocolType == PWM_TYPE_PROSHOT1000 ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
 312         motor->TimHandle.Init.RepetitionCounter = 0;
 313         motor->TimHandle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
 314         motor->TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
 315         motor->TimHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
 316
 317         result = HAL_TIM_PWM_Init(&motor->TimHandle);
 318
 319         if (result != HAL_OK) {
 320             /* Initialization Error */
 321             return false;
 322         }
 323     }
 324
 325 /*
 326 From LL version
 327 chan oinv IDLE NIDLE POL  NPOL
 328 N    I    -    Low   -    Low
 329 N    -    -    Low   -    High
 330 P    I    High -     Low  -
 331 P    -    High -     High -
 332 */
 333
 334     /* PWM mode 1 configuration */
 335
 336     TIM_OC_InitTypeDef TIM_OCInitStructure;
 337     TIM_OCInitStructure.OCMode = TIM_OCMODE_PWM1;
 338
 339     if (output & TIMER_OUTPUT_N_CHANNEL) {
 340         TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_RESET;
 341         TIM_OCInitStructure.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPOLARITY_HIGH : TIM_OCPOLARITY_LOW;
 342         TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_RESET;
 343         TIM_OCInitStructure.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPOLARITY_HIGH : TIM_OCNPOLARITY_LOW;
 344     } else {
 345         TIM_OCInitStructure.OCIdleState = TIM_OCIDLESTATE_SET;
 346         TIM_OCInitStructure.OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPOLARITY_LOW : TIM_OCPOLARITY_HIGH;
 347         TIM_OCInitStructure.OCNIdleState = TIM_OCNIDLESTATE_SET;
 348         TIM_OCInitStructure.OCNPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCNPOLARITY_LOW : TIM_OCNPOLARITY_HIGH;
 349     }
 350     TIM_OCInitStructure.OCFastMode = TIM_OCFAST_DISABLE;
 351     TIM_OCInitStructure.Pulse = 0;
 352
 353     result = HAL_TIM_PWM_ConfigChannel(&motor->TimHandle, &TIM_OCInitStructure, motor->timerHardware->channel);
 354
 355     if (result != HAL_OK) {
 356         /* Configuration Error */
 357         return false;
 358     }
 359
 360     // DMA setup
 361
 362     motor->timer = &dmaMotorTimers[timerIndex];
 363
 364 #ifdef USE_DSHOT_DMAR
 365     if (useBurstDshot) {
 366         motor->timer->dmaBurstRef = dmaRef;
 367
 368         if (!configureTimer) {
 369             motor->configured = true;
 370             return false;
 371         }
 372     } else
 373 #endif
 374     {
 375         motor->timerDmaSource = timerDmaSource(timerHardware->channel);
 376         motor->timer->timerDmaSources |= motor->timerDmaSource;
 377         motor->timerDmaIndex = timerDmaIndex(timerHardware->channel);
 378     }
 379
 380     if (!dmaIsConfigured) {
 381         dmaEnable(dmaIdentifier);
 382 #ifdef USE_DSHOT_DMAR
 383         if (useBurstDshot) {
 384             dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, timerIndex);
 385         } else
 386 #endif
 387         {
 388             dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motorIndex);
 389         }
 390     }
 391
 392 #ifdef USE_DSHOT_DMAR
 393     if (useBurstDshot) {
 394         motor->timer->hdma_tim.Init.Direction = DMA_MEMORY_TO_PERIPH;
 395         motor->timer->hdma_tim.Init.PeriphInc = DMA_PINC_DISABLE;
 396         motor->timer->hdma_tim.Init.MemInc = DMA_MINC_ENABLE;
 397         motor->timer->hdma_tim.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD ;
 398         motor->timer->hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD ;
 399         motor->timer->hdma_tim.Init.Mode = DMA_NORMAL;
 400         motor->timer->hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
 401 #if !defined(STM32G4)
 402         motor->timer->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
 403         motor->timer->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
 404         motor->timer->hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE;
 405         motor->timer->hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
 406 #endif
 407
 408         motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
 409         motor->timer->timHandle = motor->TimHandle;
 410         memset(motor->timer->dmaBurstBuffer, 0, DSHOT_DMA_BUFFER_SIZE * 4 * sizeof(uint32_t));
 411
 412         /* Set hdma_tim instance */
 413         motor->timer->hdma_tim.Instance = (DMA_ARCH_TYPE *)dmaRef;
 414         motor->timer->hdma_tim.Init.Request = dmaChannel;
 415
 416         /* Link hdma_tim to hdma[TIM_DMA_ID_UPDATE] (update) */
 417         __HAL_LINKDMA(&motor->timer->timHandle, hdma[TIM_DMA_ID_UPDATE], motor->timer->hdma_tim);
 418
 419         if (!dmaIsConfigured) {
 420             /* Initialize TIMx DMA handle */
 421             result = HAL_DMA_Init(motor->timer->timHandle.hdma[TIM_DMA_ID_UPDATE]);
 422         } else {
 423             result = HAL_OK;
 424         }
 425     } else
 426 #endif
 427     {
 428         motor->hdma_tim.Init.Direction = DMA_MEMORY_TO_PERIPH;
 429         motor->hdma_tim.Init.PeriphInc = DMA_PINC_DISABLE;
 430         motor->hdma_tim.Init.MemInc = DMA_MINC_ENABLE;
 431         motor->hdma_tim.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD ;
 432         motor->hdma_tim.Init.MemDataAlignment = DMA_MDATAALIGN_WORD ;
 433         motor->hdma_tim.Init.Mode = DMA_NORMAL;
 434         motor->hdma_tim.Init.Priority = DMA_PRIORITY_HIGH;
 435 #if !defined(STM32G4)
 436         motor->hdma_tim.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
 437         motor->hdma_tim.Init.PeriphBurst = DMA_PBURST_SINGLE;
 438         motor->hdma_tim.Init.MemBurst = DMA_MBURST_SINGLE;
 439         motor->hdma_tim.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
 440 #endif
 441
 442         motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
 443         motor->dmaBuffer[DSHOT_DMA_BUFFER_SIZE-2] = 0; // XXX Is this necessary? -> probably.
 444         motor->dmaBuffer[DSHOT_DMA_BUFFER_SIZE-1] = 0; // XXX Is this necessary?
 445
 446         motor->hdma_tim.Instance = (DMA_ARCH_TYPE *)dmaRef;
 447         motor->hdma_tim.Init.Request = dmaChannel;
 448
 449         /* Link hdma_tim to hdma[x] (channelx) */
 450         __HAL_LINKDMA(&motor->TimHandle, hdma[motor->timerDmaIndex], motor->hdma_tim);
 451
 452         /* Initialize TIMx DMA handle */
 453         result = HAL_DMA_Init(motor->TimHandle.hdma[motor->timerDmaIndex]);
 454
 455     }
 456
 457     if (result != HAL_OK) {
 458         /* Initialization Error */
 459         return false;
 460     }
 461
 462     // Start the timer channel now.
 463     // Enabling/disabling DMA request can restart a new cycle without PWM start/stop.
 464
 465     if (motor->timerHardware->output & TIMER_OUTPUT_N_CHANNEL) {
 466         result = HAL_TIMEx_PWMN_Start(&motor->TimHandle, motor->timerHardware->channel);
 467     } else {
 468         result = HAL_TIM_PWM_Start(&motor->TimHandle, motor->timerHardware->channel);
 469     }
 470
 471     if (result != HAL_OK) {
 472         /* Starting PWM generation Error */
 473         return false;
 474     }
 475
 476     motor->configured = true;
 477
 478     return true;
 479 }
 480 #endif