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imxrt: dshot add 1060 support and use channels instead of timers

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This commit is contained in:
Peter van der Perk
2024-03-10 15:39:57 +01:00
committed by David Sidrane
parent e2969952d3
commit b0cb697f71
11 changed files with 123 additions and 43 deletions
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Tools/module_config/output_groups_from_timer_config.py
+12 -4
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@@ -54,12 +54,21 @@ def extract_timer_from_channel(line, timer_names):
return None
def imxrt_is_dshot(line):
# NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
search = re.search('(initIOPWMDshot)', line, re.IGNORECASE)
if search:
return True
return False
def get_timer_groups(timer_config_file, verbose=False):
with open(timer_config_file, 'r') as f:
timer_config = f.read()
# timers
dshot_support = {} # key: timer
dshot_support = {str(i): False for i in range(16)}
timers_start_marker = 'io_timers_t io_timers'
timers_start = timer_config.find(timers_start_marker)
if timers_start == -1:
@@ -78,10 +87,9 @@ def get_timer_groups(timer_config_file, verbose=False):
if timer_type == 'imxrt':
if verbose: print('imxrt timer found')
timer_names.append(timer)
if imxrt_is_dshot(line):
dshot_support[str(len(timers))] = True
timers.append(str(len(timers)))
dshot_support = {str(i): False for i in range(16)}
for i in range(8): # First 8 channels support dshot
dshot_support[str(i)] = True
elif timer:
if verbose: print('found timer def: {:}'.format(timer))
dshot_support[timer] = 'DMA' in line
boards/px4/fmu-v6xrt/nuttx-config/include/board.h
+4
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@@ -267,6 +267,10 @@
// This is the ENET_1G interface.
/* Dshot Disambiguation *******************************************************/
#define IOMUX_DSHOT_DEFAULT (IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_FAST)
// Compile time selection
#if defined(CONFIG_ETH0_PHY_TJA1103)
# define BOARD_PHY_ADDR (18)
boards/px4/fmu-v6xrt/src/imxrt_clockconfig.c
+1 -1
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@@ -114,7 +114,7 @@ const struct clock_configuration_s g_initial_clkconfig = {
.div = 1,
.mux = ACMP_CLK_ROOT_OSC_RC_48M_DIV2,
},
.flexio1_clk_root =
.flexio1_clk_root = /* 240 / 2 = 120Mhz */
{
.enable = 1,
.div = 2,
boards/px4/fmu-v6xrt/src/timer_config.cpp
+16 -16
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@@ -91,14 +91,14 @@
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO23_1, 23),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO25_1, 25),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO27_1, 27),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO06_1, 6),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO08_1, 8),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO10_1, 10),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3, GPIO_FLEXIO1_FLEXIO19_1, 19),
initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO29_1, 29),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1),
initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2),
initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3),
initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0),
initIOPWM(PWM::FlexPWM3, PWM::Submodule1),
initIOPWM(PWM::FlexPWM3, PWM::Submodule3),
initIOPWM(PWM::FlexPWM4, PWM::Submodule0),
@@ -106,14 +106,14 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
/* FMU_CH1 */ initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23),
/* FMU_CH2 */ initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25),
/* FMU_CH3 */ initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27),
/* FMU_CH4 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06),
/* FMU_CH5 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08),
/* FMU_CH6 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10),
/* FMU_CH7 */ initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19),
/* FMU_CH8 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29),
/* FMU_CH1 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23, GPIO_FLEXIO1_FLEXIO23_1 | IOMUX_DSHOT_DEFAULT, 23),
/* FMU_CH2 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25, GPIO_FLEXIO1_FLEXIO25_1 | IOMUX_DSHOT_DEFAULT, 25),
/* FMU_CH3 */ initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27, GPIO_FLEXIO1_FLEXIO27_1 | IOMUX_DSHOT_DEFAULT, 27),
/* FMU_CH4 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06, GPIO_FLEXIO1_FLEXIO06_1 | IOMUX_DSHOT_DEFAULT, 6),
/* FMU_CH5 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08, GPIO_FLEXIO1_FLEXIO08_1 | IOMUX_DSHOT_DEFAULT, 8),
/* FMU_CH6 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10, GPIO_FLEXIO1_FLEXIO10_1 | IOMUX_DSHOT_DEFAULT, 10),
/* FMU_CH7 */ initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19, GPIO_FLEXIO1_FLEXIO19_1 | IOMUX_DSHOT_DEFAULT, 19),
/* FMU_CH8 */ initIOTimerChannelDshot(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29, GPIO_FLEXIO1_FLEXIO29_1 | IOMUX_DSHOT_DEFAULT, 29),
/* FMU_CH9 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_31),
/* FMU_CH10 */ initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_21),
/* FMU_CH11 */ initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_00),
platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c
+16 -16
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@@ -53,6 +53,10 @@
#define NIBBLES_SIZE 4u
#define DSHOT_NUMBER_OF_NIBBLES 3u
#if defined(IOMUX_PULL_UP_47K)
#define IOMUX_PULL_UP IOMUX_PULL_UP_47K
#endif
static const uint32_t gcr_decode[32] = {
0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
0x0, 0x9, 0xA, 0xB, 0x0, 0xD, 0xE, 0xF,
@@ -195,7 +199,6 @@ static void flexio_dshot_output(uint32_t channel, uint32_t pin, uint32_t timcmp,
static int flexio_irq_handler(int irq, void *context, void *arg)
{
uint32_t flags = get_shifter_status_flags();
uint32_t channel;
@@ -236,7 +239,6 @@ static int flexio_irq_handler(int irq, void *context, void *arg)
} else if (dshot_inst[channel].bdshot && dshot_inst[channel].state == DSHOT_12BIT_TRANSFERRED) {
disable_shifter_status_interrupts(1 << channel);
dshot_inst[channel].state = BDSHOT_RECEIVE;
uint8_t timer = timer_io_channels[channel].timer_index;
/* Transmit done, disable timer and reconfigure to receive*/
flexio_putreg32(0x0, IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
@@ -252,7 +254,7 @@ static int flexio_irq_handler(int irq, void *context, void *arg)
flexio_putreg32(FLEXIO_SHIFTCTL_TIMSEL(channel) |
FLEXIO_SHIFTCTL_TIMPOL(FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE) |
FLEXIO_SHIFTCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
FLEXIO_SHIFTCTL_PINSEL(io_timers[timer].dshot.flexio_pin) |
FLEXIO_SHIFTCTL_PINSEL(timer_io_channels[channel].dshot.flexio_pin) |
FLEXIO_SHIFTCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) |
FLEXIO_SHIFTCTL_SMOD(FLEXIO_SHIFTER_MODE_RECEIVE),
IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4);
@@ -274,7 +276,7 @@ static int flexio_irq_handler(int irq, void *context, void *arg)
flexio_putreg32(bdshot_tcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4);
/* Trigger on FXIO pin transition, Baud mode */
flexio_putreg32(FLEXIO_TIMCTL_TRGSEL(2 * io_timers[timer].dshot.flexio_pin) |
flexio_putreg32(FLEXIO_TIMCTL_TRGSEL(2 * timer_io_channels[channel].dshot.flexio_pin) |
FLEXIO_TIMCTL_TRGPOL(FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_HIGH) |
FLEXIO_TIMCTL_TRGSRC(FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL) |
FLEXIO_TIMCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
@@ -315,7 +317,7 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
FLEXIO_CTRL_FASTACC_MASK |
FLEXIO_CTRL_FLEXEN_MASK),
(FLEXIO_CTRL_DBGE(1) |
FLEXIO_CTRL_FASTACC(0) |
FLEXIO_CTRL_FASTACC(1) |
FLEXIO_CTRL_FLEXEN(0)));
/* FlexIO IRQ handling */
@@ -326,17 +328,16 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
for (unsigned channel = 0; (channel_mask != 0) && (channel < DSHOT_TIMERS); channel++) {
if (channel_mask & (1 << channel)) {
uint8_t timer = timer_io_channels[channel].timer_index;
if (io_timers[timer].dshot.pinmux == 0) { // board does not configure dshot on this pin
if (timer_io_channels[channel].dshot.pinmux == 0) { // board does not configure dshot on this pin
continue;
}
imxrt_config_gpio(io_timers[timer].dshot.pinmux | IOMUX_PULL_UP);
imxrt_config_gpio(timer_io_channels[channel].dshot.pinmux | IOMUX_PULL_UP);
dshot_inst[channel].bdshot = enable_bidirectional_dshot;
flexio_dshot_output(channel, io_timers[timer].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);
flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);
dshot_inst[channel].init = true;
@@ -429,7 +430,7 @@ void up_dshot_trigger(void)
clear_timer_status_flags(0xFF);
for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
if ((bdshot_recv_mask & (1 << channel)) == 0) {
if (dshot_inst[channel].bdshot && (bdshot_recv_mask & (1 << channel)) == 0) {
dshot_inst[channel].no_response_cnt++;
}
@@ -439,9 +440,10 @@ void up_dshot_trigger(void)
}
// Calc data now since we're not event driven
up_bdshot_erpm();
bdshot_recv_mask = 0x0;
if(bdshot_recv_mask != 0x0) {
up_bdshot_erpm();
bdshot_recv_mask = 0x0;
}
clear_timer_status_flags(0xFF);
enable_shifter_status_interrupts(0xFF);
@@ -476,8 +478,6 @@ uint64_t dshot_expand_data(uint16_t packet)
**/
void dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry)
{
uint8_t timer = timer_io_channels[channel].timer_index;
if (channel < DSHOT_TIMERS && dshot_inst[channel].init) {
uint16_t csum_data;
uint16_t packet = 0;
@@ -513,7 +513,7 @@ void dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry)
flexio_putreg32(0x0, IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
disable_shifter_status_interrupts(1 << channel);
flexio_dshot_output(channel, io_timers[timer].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);
flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);
clear_timer_status_flags(0xFF);
}
platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h
+1 -1
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@@ -87,7 +87,6 @@ typedef struct io_timers_t {
uint32_t clock_register; /* SIM_SCGCn */
uint32_t clock_bit; /* SIM_SCGCn bit pos */
uint32_t vectorno; /* IRQ number */
dshot_conf_t dshot;
} io_timers_t;
typedef struct io_timers_channel_mapping_element_t {
@@ -112,6 +111,7 @@ typedef struct timer_io_channels_t {
uint8_t sub_module; /* 0 based sub module offset */
uint8_t sub_module_bits; /* LDOK and CLDOK bits */
uint8_t timer_channel; /* Unused */
dshot_conf_t dshot;
} timer_io_channels_t;
#define SM0 0
platforms/nuttx/src/px4/nxp/rt106x/CMakeLists.txt
+1 -1
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@@ -36,7 +36,7 @@ add_subdirectory(../imxrt/adc adc)
add_subdirectory(../imxrt/board_critmon board_critmon)
add_subdirectory(../imxrt/board_hw_info board_hw_info)
add_subdirectory(../imxrt/board_reset board_reset)
#add_subdirectory(../imxrt/dshot dshot)
add_subdirectory(../imxrt/dshot dshot)
add_subdirectory(../imxrt/hrt hrt)
add_subdirectory(../imxrt/led_pwm led_pwm)
add_subdirectory(../imxrt/io_pins io_pins)
platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/dshot.h
+36
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@@ -0,0 +1,36 @@
/****************************************************************************
*
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "../../../imxrt/include/px4_arch/dshot.h"
platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer.h
+2
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@@ -41,6 +41,7 @@
#include <nuttx/irq.h>
#include <drivers/drv_hrt.h>
#include "dshot.h"
#pragma once
__BEGIN_DECLS
@@ -110,6 +111,7 @@ typedef struct timer_io_channels_t {
uint8_t sub_module; /* 0 based sub module offset */
uint8_t sub_module_bits; /* LDOK and CLDOK bits */
uint8_t timer_channel; /* Unused */
dshot_conf_t dshot;
} timer_io_channels_t;
#define SM0 0
platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer_hw_description.h
+21
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@@ -601,6 +601,16 @@ static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t
return ret;
}
static inline constexpr timer_io_channels_t initIOTimerChannelDshot(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad, uint32_t dshot_pinmux, uint32_t flexio_pin)
{
timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, pwm_config, pad);
ret.dshot.pinmux = dshot_pinmux;
ret.dshot.flexio_pin = flexio_pin;
return ret;
}
static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
{
io_timers_t ret{};
@@ -609,3 +619,14 @@ static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubm
ret.submodle = sub;
return ret;
}
static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
{
io_timers_t ret{};
ret.base = getFlexPWMBaseRegister(pwm);
ret.submodle = sub;
return ret;
}
platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/io_timer_hw_description.h
+13 -4
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@@ -690,6 +690,16 @@ static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t
return ret;
}
static inline constexpr timer_io_channels_t initIOTimerChannelDshot(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad, uint32_t dshot_pinmux, uint32_t flexio_pin)
{
timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, pwm_config, pad);
ret.dshot.pinmux = dshot_pinmux;
ret.dshot.flexio_pin = flexio_pin;
return ret;
}
static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
{
io_timers_t ret{};
@@ -699,14 +709,13 @@ static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubm
return ret;
}
static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub, uint32_t pinmux,
uint32_t flexio_pin)
static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
{
io_timers_t ret{};
ret.base = getFlexPWMBaseRegister(pwm);
ret.submodle = sub;
ret.dshot.pinmux = pinmux;
ret.dshot.flexio_pin = flexio_pin;
return ret;
}