Bidirectionnal DShot for H7 (#3253)

conf/airframes/ENAC/quadrotor/cobraV2.xml

@@ -30,7 +30,9 @@
 
     <module name="telemetry" type="xbee_api"/>
 
-    <module name="actuators" type="dshot"/>
+    <module name="actuators" type="dshot">
+      <configure name="DSHOT_BIDIR" value="TRUE"/>
+    </module>
     <module name="actuators" type="pwm"/>
     <module name="switch" type="servo"/>
     <define name="SWITCH_SERVO_ON_VALUE" value="SERVO_SWITCH_MAX"/>

conf/boards/tawaki_2.0.makefile

@@ -99,3 +99,6 @@ SBUS2_PORT ?= UART6
 #
 ACTUATORS ?= actuators_pwm
 
+
+# Bidirectionnal DSHOT timer for input capture timeout
+DSHOT1_GPT_TIM ?= 7

conf/modules/actuators_dshot.xml

@@ -8,8 +8,15 @@
       Beware that servo output from the same timer cannot mix PWM and DSHOT.
       It might be required to disable by hand some PWM output to avoid conflicts when they are activated by default on a board.
       Currently only implemented over ChibiOS.
+
+      Configure DSHOT_BIDIR to TRUE to enable bidirectionnal DSHOT.
+      It overrides the rpm values from the UART dshot telemetry.
+      UART dshot telemetry is still usefull for current and voltage telemetry.
+
     </description>
+    <configure name="DSHOT_BIDIR" value="FALSE" description="Bidirectionnal DSHOT for fast rpm feedback"/>
     <define name="DSHOT_SPEED" value="600" description="DSHOT speed (150,300,600,1200)"/>
+    <configure name="DSHOT1_GPT_TIM" value="7" description="GPT driver used for telemetry timeout"/>
   </doc>
   <dep>
     <depends>actuators,@commands</depends>
@@ -19,10 +26,21 @@
     <file name="actuators_dshot.h"/>
   </header>
   <makefile>
+    <configure name="DSHOT_BIDIR" default="FALSE"/>
     <file_arch name="actuators_dshot_arch.c"/>
     <file_arch name="esc_dshot.c" cond="ifeq ($(RTOS),chibios)"/>
     <file_arch name="hal_stm32_dma.c" dir="mcu_periph" cond="ifeq ($(RTOS),chibios)"/>
     <test/>
   </makefile>
+  <makefile cond="ifeq ($(DSHOT_BIDIR),TRUE)">
+    <define name="DSHOT_BIDIR" value="$(DSHOT_BIDIR)"/>
+    <define name="USE_GPT$(DSHOT1_GPT_TIM)" value="TRUE"/>
+    <define name="DSHOT1_BIDIR_GPT" value="GPTD$(DSHOT1_GPT_TIM)"/>
+    <file_arch name="dshot_rpmCapture.c"/>
+    <file_arch name="dshot_erps.c"/>
+    <file_arch name="input_capture_arch.c" dir="mcu_periph"/>
+    <file_arch name="timerDmaCache.c" dir="mcu_periph"/>
+    <test/>
+  </makefile>
 </module>