Bidirectionnal DShot for H7 (#3253)

paparazzi · Apr 9, 2024 · 15d8a63 · 15d8a63
1 parent 6fb37f8
commit 15d8a63
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diff --git a/conf/airframes/ENAC/quadrotor/cobraV2.xml b/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"/>

diff --git a/conf/boards/tawaki_2.0.makefile b/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
diff --git a/conf/modules/actuators_dshot.xml b/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>
 
diff --git a/sw/airborne/arch/chibios/halconf.h b/sw/airborne/arch/chibios/halconf.h
@@ -91,8 +91,13 @@
  * @brief   Enables the GPT subsystem.
  */
 #if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
+#if USE_GPT5 || USE_GPT7 || USE_GPT8 || USE_GPT12 || USE_GPT13
+#define HAL_USE_GPT                         TRUE
+#define GPT_DRIVER_EXT_FIELDS void *user_data;
+#else
 #define HAL_USE_GPT                         FALSE
 #endif
+#endif
 
 /**
  * @brief   Enables the I2C subsystem.

diff --git a/sw/airborne/arch/chibios/mcu_periph/gpio_arch.c b/sw/airborne/arch/chibios/mcu_periph/gpio_arch.c
@@ -58,6 +58,10 @@ void gpio_setup_input_pulldown(ioportid_t port, uint16_t gpios)
   chSysUnlock();
 }
 
+void gpio_setup_pin_af_pullup(ioportid_t port, uint16_t pin, uint8_t af) {
+  palSetPadMode(port, pin, PAL_MODE_ALTERNATE(af) | PAL_STM32_PUPDR_PULLUP);
+}
+
 void gpio_setup_pin_af(ioportid_t port, uint16_t pin, uint8_t af, bool is_output)
 {
   chSysLock();

diff --git a/sw/airborne/arch/chibios/mcu_periph/gpio_arch.h b/sw/airborne/arch/chibios/mcu_periph/gpio_arch.h
@@ -72,6 +72,12 @@ extern void gpio_setup_input_pulldown(ioportid_t port, uint16_t gpios);
  */
 extern void gpio_setup_pin_af(ioportid_t port, uint16_t pin, uint8_t af, bool is_output);
 
+/**
+ * Setup a gpio for input pullup with alternate function.
+ * This is an STM32 specific helper funtion and should only be used in stm32 code.
+*/
+void gpio_setup_pin_af_pullup(ioportid_t port, uint16_t pin, uint8_t af);
+
 /**
  * Setup a gpio for analog use.
  * @param[in] port