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fmu-v5x: enable DShot

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Only the first 6 FMU pins support it.
DMA conflict with UART8, which is the GPS2 port.
This commit is contained in:
Beat Küng
2019-11-28 16:48:59 +01:00
parent 7aa905eb21
commit cf4e97b71c
4 changed files with 15 additions and 3 deletions
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boards/px4/fmu-v5x/default.cmake
+1 -1
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@@ -24,7 +24,7 @@ px4_add_board(
camera_trigger camera_trigger
differential_pressure # all available differential pressure drivers differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers distance_sensor # all available distance sensor drivers
#dshot dshot
gps gps
#heater #heater
#imu # all available imu drivers #imu # all available imu drivers
boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
-1
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@@ -258,7 +258,6 @@ CONFIG_UART7_RXDMA=y
CONFIG_UART7_TXBUFSIZE=3000 CONFIG_UART7_TXBUFSIZE=3000
CONFIG_UART8_BAUD=57600 CONFIG_UART8_BAUD=57600
CONFIG_UART8_RXBUFSIZE=600 CONFIG_UART8_RXBUFSIZE=600
CONFIG_UART8_RXDMA=y
CONFIG_UART8_TXBUFSIZE=1500 CONFIG_UART8_TXBUFSIZE=1500
CONFIG_USART1_BAUD=57600 CONFIG_USART1_BAUD=57600
CONFIG_USART1_RXBUFSIZE=600 CONFIG_USART1_RXBUFSIZE=600
boards/px4/fmu-v5x/src/board_config.h
+2
View File
@@ -426,6 +426,8 @@
#define DIRECT_INPUT_TIMER_CHANNELS 8 #define DIRECT_INPUT_TIMER_CHANNELS 8
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
/* User GPIOs /* User GPIOs
* *
boards/px4/fmu-v5x/src/timer_config.c
+12 -1
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@@ -83,7 +83,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.last_channel_index = 3, .last_channel_index = 3,
.handler = io_timer_handler0, .handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC, .vectorno = STM32_IRQ_TIM1CC,
.dshot = {
.dma_base = STM32_DMA2_BASE,
.dmamap = DMAMAP_TIM1_UP,
.start_ccr_register = TIM_DMABASE_CCR1,
.channels_number = 4u /* CCR1, CCR2, CCR3 and CCR4 */
}
}, },
{ {
.base = STM32_TIM4_BASE, .base = STM32_TIM4_BASE,
@@ -94,6 +99,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
.last_channel_index = 5, .last_channel_index = 5,
.handler = io_timer_handler1, .handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM4, .vectorno = STM32_IRQ_TIM4,
.dshot = {
.dma_base = STM32_DMA1_BASE,
.dmamap = DMAMAP_TIM4_UP,
.start_ccr_register = TIM_DMABASE_CCR2,
.channels_number = 2u /* CCR2 and CCR3 */
}
}, },
{ {
.base = STM32_TIM12_BASE, .base = STM32_TIM12_BASE,