add timer_enable_dma_request

BossHobby · Jun 29, 2024 · 3917eaa · 3917eaa
1 parent 75ba8af
commit 3917eaa
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Showing 5 changed files with 72 additions and 59 deletions.
diff --git a/src/driver/at32/motor_dshot.c b/src/driver/at32/motor_dshot.c
@@ -31,7 +31,7 @@ typedef struct {
   uint32_t port_low;  // motor pins for BSRRL, for setting pins low
   uint32_t port_high; // motor pins for BSRRH, for setting pins high
 
-  uint32_t timer_channel;
+  timer_channel_t timer_channel;
   dma_device_t dma_device;
 } dshot_gpio_port_t;
 
@@ -43,15 +43,15 @@ volatile uint32_t dshot_dma_phase = 0; // 0: idle, 1 - (gpio_port_count + 1): ha
 static uint8_t gpio_port_count = 0;
 static dshot_gpio_port_t gpio_ports[DSHOT_MAX_PORT_COUNT] = {
     {
-        .timer_channel = TMR_SELECT_CHANNEL_1,
+        .timer_channel = TIMER_CH1,
         .dma_device = DMA_DEVICE_TIM1_CH1,
     },
     {
-        .timer_channel = TMR_SELECT_CHANNEL_3,
+        .timer_channel = TIMER_CH3,
         .dma_device = DMA_DEVICE_TIM1_CH3,
     },
     {
-        .timer_channel = TMR_SELECT_CHANNEL_4,
+        .timer_channel = TIMER_CH4,
         .dma_device = DMA_DEVICE_TIM1_CH4,
     },
 };
@@ -129,22 +129,6 @@ static void dshot_init_gpio_port(dshot_gpio_port_t *port) {
   interrupt_enable(dma->irq, DMA_PRIORITY);
 }
 
-static void dshot_enable_dma_request(uint32_t timer_channel, confirm_state new_state) {
-  switch (timer_channel) {
-  case TMR_SELECT_CHANNEL_1:
-    tmr_dma_request_enable(TMR1, TMR_C1_DMA_REQUEST, new_state);
-    break;
-  case TMR_SELECT_CHANNEL_3:
-    tmr_dma_request_enable(TMR1, TMR_C3_DMA_REQUEST, new_state);
-    break;
-  case TMR_SELECT_CHANNEL_4:
-    tmr_dma_request_enable(TMR1, TMR_C4_DMA_REQUEST, new_state);
-    break;
-  default:
-    break;
-  }
-}
-
 void motor_dshot_init() {
   gpio_port_count = 0;
 
@@ -195,7 +179,7 @@ static void dshot_dma_setup_port(uint32_t index) {
   dma->channel->dtcnt = DSHOT_DMA_BUFFER_SIZE;
 
   dma_channel_enable(dma->channel, TRUE);
-  dshot_enable_dma_request(port->timer_channel, TRUE);
+  timer_enable_dma_request(TIMER1, port->timer_channel, true);
 }
 
 // make dshot dma packet, then fire

diff --git a/src/driver/at32/timer.c b/src/driver/at32/timer.c
@@ -108,6 +108,30 @@ uint32_t timer_channel_val(timer_channel_t chan) {
   }
 }
 
+void timer_enable_dma_request(timer_index_t tim, timer_channel_t chan, bool state) {
+  const timer_def_t *def = &timer_defs[tim];
+
+  switch (chan) {
+  case TIMER_CH1:
+  case TIMER_CH1N:
+    tmr_dma_request_enable(def->instance, TMR_C1_DMA_REQUEST, state ? TRUE : FALSE);
+    break;
+  case TIMER_CH2:
+  case TIMER_CH2N:
+    tmr_dma_request_enable(def->instance, TMR_C2_DMA_REQUEST, state ? TRUE : FALSE);
+    break;
+  case TIMER_CH3:
+  case TIMER_CH3N:
+    tmr_dma_request_enable(def->instance, TMR_C3_DMA_REQUEST, state ? TRUE : FALSE);
+    break;
+  case TIMER_CH4:
+    tmr_dma_request_enable(def->instance, TMR_C4_DMA_REQUEST, state ? TRUE : FALSE);
+    break;
+  default:
+    break;
+  }
+}
+
 static void timer_irq_handler() {
   extern void soft_serial_timer_irq_handler();
   soft_serial_timer_irq_handler();

diff --git a/src/driver/stm32/motor_dshot.c b/src/driver/stm32/motor_dshot.c
@@ -31,7 +31,7 @@ typedef struct {
   uint32_t port_low;  // motor pins for BSRRL, for setting pins low
   uint32_t port_high; // motor pins for BSRRH, for setting pins high
 
-  uint32_t timer_channel;
+  timer_channel_t timer_channel;
   dma_device_t dma_device;
 } dshot_gpio_port_t;
 
@@ -43,15 +43,15 @@ volatile uint32_t dshot_dma_phase = 0; // 0: idle, 1 - (gpio_port_count + 1): ha
 static uint8_t gpio_port_count = 0;
 static dshot_gpio_port_t gpio_ports[DSHOT_MAX_PORT_COUNT] = {
     {
-        .timer_channel = LL_TIM_CHANNEL_CH1,
+        .timer_channel = TIMER_CH1,
         .dma_device = DMA_DEVICE_TIM1_CH1,
     },
     {
-        .timer_channel = LL_TIM_CHANNEL_CH3,
+        .timer_channel = TIMER_CH3,
         .dma_device = DMA_DEVICE_TIM1_CH3,
     },
     {
-        .timer_channel = LL_TIM_CHANNEL_CH4,
+        .timer_channel = TIMER_CH4,
         .dma_device = DMA_DEVICE_TIM1_CH4,
     },
 };
@@ -140,38 +140,6 @@ static void dshot_init_gpio_port(dshot_gpio_port_t *port) {
   LL_DMA_EnableIT_TC(dma->port, dma->stream_index);
 }
 
-static void dshot_enable_dma_request(uint32_t timer_channel) {
-  switch (timer_channel) {
-  case LL_TIM_CHANNEL_CH1:
-    LL_TIM_EnableDMAReq_CC1(TIM1);
-    break;
-  case LL_TIM_CHANNEL_CH3:
-    LL_TIM_EnableDMAReq_CC3(TIM1);
-    break;
-  case LL_TIM_CHANNEL_CH4:
-    LL_TIM_EnableDMAReq_CC4(TIM1);
-    break;
-  default:
-    break;
-  }
-}
-
-static void dshot_disable_dma_request(uint32_t timer_channel) {
-  switch (timer_channel) {
-  case LL_TIM_CHANNEL_CH1:
-    LL_TIM_DisableDMAReq_CC1(TIM1);
-    break;
-  case LL_TIM_CHANNEL_CH3:
-    LL_TIM_DisableDMAReq_CC3(TIM1);
-    break;
-  case LL_TIM_CHANNEL_CH4:
-    LL_TIM_DisableDMAReq_CC4(TIM1);
-    break;
-  default:
-    break;
-  }
-}
-
 void motor_dshot_init() {
   gpio_port_count = 0;
 
@@ -227,7 +195,7 @@ static void dshot_dma_setup_port(uint32_t index) {
   LL_DMA_SetDataLength(dma->port, dma->stream_index, DSHOT_DMA_BUFFER_SIZE);
 
   LL_DMA_EnableStream(dma->port, dma->stream_index);
-  dshot_enable_dma_request(port->timer_channel);
+  timer_enable_dma_request(TIMER1, port->timer_channel, true);
 }
 
 // make dshot dma packet, then fire
@@ -275,7 +243,7 @@ void dshot_dma_isr(dma_device_t dev) {
   LL_DMA_DisableStream(dma->port, dma->stream_index);
 
   const dshot_gpio_port_t *port = dshot_gpio_for_device(dev);
-  dshot_disable_dma_request(port->timer_channel);
+  timer_enable_dma_request(TIMER1, port->timer_channel, false);
 
   dshot_dma_phase--;
 }

diff --git a/src/driver/stm32/timer.c b/src/driver/stm32/timer.c
@@ -81,6 +81,42 @@ uint32_t timer_channel_val(timer_channel_t chan) {
   }
 }
 
+void timer_enable_dma_request(timer_index_t tim, timer_channel_t chan, bool state) {
+  const timer_def_t *def = &timer_defs[tim];
+
+  switch (chan) {
+  case TIMER_CH1:
+  case TIMER_CH1N:
+    if (state)
+      LL_TIM_EnableDMAReq_CC1(def->instance);
+    else
+      LL_TIM_DisableDMAReq_CC1(def->instance);
+    break;
+  case TIMER_CH2:
+  case TIMER_CH2N:
+    if (state)
+      LL_TIM_EnableDMAReq_CC2(def->instance);
+    else
+      LL_TIM_DisableDMAReq_CC2(def->instance);
+    break;
+  case TIMER_CH3:
+  case TIMER_CH3N:
+    if (state)
+      LL_TIM_EnableDMAReq_CC3(def->instance);
+    else
+      LL_TIM_DisableDMAReq_CC3(def->instance);
+    break;
+  case TIMER_CH4:
+    if (state)
+      LL_TIM_EnableDMAReq_CC4(def->instance);
+    else
+      LL_TIM_DisableDMAReq_CC4(def->instance);
+    break;
+  default:
+    break;
+  }
+}
+
 static void timer_irq_handler() {
   extern void soft_serial_timer_irq_handler();
   soft_serial_timer_irq_handler();

diff --git a/src/driver/timer.h b/src/driver/timer.h
@@ -88,5 +88,6 @@ void timer_alloc_init();
 bool timer_alloc_tag(timer_use_t use, resource_tag_t tag);
 resource_tag_t timer_alloc(timer_use_t use);
 uint32_t timer_channel_val(timer_channel_t chan);
+void timer_enable_dma_request(timer_index_t tim, timer_channel_t chan, bool state);
 
 void timer_up_init(timer_index_t tim, uint16_t divider, uint32_t period);