stm32 timers: add dshot implementation

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/dshot.h

@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ * Author: Igor Misic <igy1000mb@gmail.com>
+ *
+ * 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 <drivers/drv_pwm_output.h>
+
+#define DSHOT_MOTOR_PWM_BIT_WIDTH		20u
+
+/* Configuration for each timer to setup DShot. Some timers have only one while others have two choices for the stream.
+ *
+ * TIM1UP - DMA2, Channel6, Stream5
+ * TIM2UP - DMA1, Channel3, Stream1 or Stream7
+ * TIM3UP - DMA1, Channel5, Stream2
+ * TIM4UP - DMA1, Channel2, Stream6
+ * TIM5UP - DMA1, Channel6, Stream0 or Stream6
+ * TIM6UP - DMA1, Channel7, Stream1
+ * TIM7UP - DMA1, Channel1, Stream2 or Stream4
+ * TIM8UP - DMA2, Channel7, Stream1
+ */
+
+#define DSHOT_DMA1_BASE		STM32_DMA1_BASE
+#define DSHOT_DMA2_BASE		STM32_DMA2_BASE
+
+typedef enum dshot_dma_channel_t {
+	DShot_Channel0	= 0u,
+	DShot_Channel1	= 1u,
+	DShot_Channel2	= 2u,
+	DShot_Channel3	= 3u,
+	DShot_Channel4	= 4u,
+	DShot_Channel5	= 5u,
+	DShot_Channel6	= 6u,
+	DShot_Channel7	= 7u
+} dshot_dma_channel_t;
+
+typedef enum dshot_dma_stream_t {
+	DShot_Stream0	= 0u,
+	DShot_Stream1	= 1u,
+	DShot_Stream2	= 2u,
+	DShot_Stream3	= 3u,
+	DShot_Stream4	= 4u,
+	DShot_Stream5	= 5u,
+	DShot_Stream6	= 6u,
+	DShot_Stream7	= 7u
+} dshot_dma_stream_t;
+
+
+/* The structure which contains configuration for DShot
+ */
+typedef struct dshot_conf_t {
+	uint32_t			dma_base;
+	dshot_dma_channel_t	channel;
+	dshot_dma_stream_t	stream;
+	uint32_t			start_ccr_register;
+	uint8_t				channels_number;
+} dshot_conf_t;

platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h

@@ -7,14 +7,14 @@
  * are met:
  *
  * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
+ *	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.
+ *	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.
+ *	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
@@ -32,15 +32,14 @@
  ****************************************************************************/
 
 /**
- * @file drv_io_timer.h
- *
- * stm32-specific PWM output data.
+ * @file io_timer.h
  */
 #include <px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
 #include <drivers/drv_hrt.h>
+#include "dshot.h"
 
 #pragma once
 __BEGIN_DECLS
@@ -53,13 +52,20 @@ __BEGIN_DECLS
 
 #define IO_TIMER_ALL_MODES_CHANNELS 0
 
+/* TIM_DMA_Base_address TIM DMA Base Address */
+#define TIM_DMABASE_CCR1		0x0000000DU
+#define TIM_DMABASE_CCR2		0x0000000EU
+#define TIM_DMABASE_CCR3		0x0000000FU
+#define TIM_DMABASE_CCR4		0x00000010U
+
 typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_NotUsed = 0,
 	IOTimerChanMode_PWMOut  = 1,
 	IOTimerChanMode_PWMIn   = 2,
 	IOTimerChanMode_Capture = 3,
 	IOTimerChanMode_OneShot = 4,
 	IOTimerChanMode_Trigger = 5,
+	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 
@@ -74,14 +80,15 @@ typedef uint8_t io_timer_channel_allocation_t; /* big enough to hold MAX_TIMER_I
  *** the resulting PSC will be one and the timer will count at it's clock frequency.
  */
 typedef struct io_timers_t {
-	uint32_t	base;
-	uint32_t	clock_register;
-	uint32_t	clock_bit;
-	uint32_t	clock_freq;
-	uint32_t	vectorno;
-	uint32_t    first_channel_index;
-	uint32_t    last_channel_index;
-	xcpt_t      handler;
+	uint32_t		base;
+	uint32_t		clock_register;
+	uint32_t		clock_bit;
+	uint32_t		clock_freq;
+	uint32_t		vectorno;
+	uint32_t		first_channel_index;
+	uint32_t		last_channel_index;
+	xcpt_t			handler;
+	dshot_conf_t	dshot;
 } io_timers_t;
 
 /* array of channels in logical order */
@@ -133,4 +140,6 @@ __EXPORT int io_timer_get_channel_mode(unsigned channel);
 __EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
 __EXPORT extern void io_timer_trigger(void);
 
+__EXPORT extern int io_timer_set_dshot_mode(uint8_t timer, unsigned dshot_pwm_rate, uint8_t dma_burst_length);
+
 __END_DECLS

platforms/nuttx/src/px4/stm/stm32_common/io_pins/CMakeLists.txt

@@ -36,4 +36,5 @@ px4_add_library(arch_io_pins
 	pwm_servo.c
 	pwm_trigger.c
 	input_capture.c
+	dshot.c
 )