Fix the problem of multiple timer allocations with bitbanged Dshot.

betaflight · Sep 8, 2019 · 4acf089 · 4acf089
1 parent f331cb3
commit 4acf089
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Showing 5 changed files with 30 additions and 24 deletions.
diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
@@ -5616,28 +5616,12 @@ static void showTimers(void)
     cliRepeat('-', 23);
 #endif
 
-#ifdef USE_DSHOT_BITBANG
-    resourceOwner_t bitbangOwner = { OWNER_DSHOT_BITBANG, 0 };
-#endif
     int8_t timerNumber;
     for (int i = 0; (timerNumber = timerGetNumberByIndex(i)); i++) {
         cliPrintf("TIM%d:", timerNumber);
         bool timerUsed = false;
         for (unsigned timerIndex = 0; timerIndex < CC_CHANNELS_PER_TIMER; timerIndex++) {
             const resourceOwner_t *timerOwner = timerGetOwner(timerNumber, CC_CHANNEL_FROM_INDEX(timerIndex));
-#ifdef USE_DSHOT_BITBANG
-            if (!timerOwner->owner) {
-                const timerHardware_t* timer;
-                int pacerIndex = 0;
-                while ((timer = dshotBitbangGetPacerTimer(pacerIndex++))) {
-                    if (timerGetTIMNumber(timer->tim) == timerNumber && timer->channel == CC_CHANNEL_FROM_INDEX(timerIndex)) {
-                        timerOwner = &bitbangOwner;
-                        bitbangOwner.resourceIndex++;
-                        break;
-                    }
-                }
-            }
-#endif
             if (timerOwner->owner) {
                 if (!timerUsed) {
                     timerUsed = true;

diff --git a/src/main/drivers/dshot_bitbang.c b/src/main/drivers/dshot_bitbang.c
@@ -206,9 +206,18 @@ static bbPort_t *bbAllocMotorPort(int portIndex)
     return bbPort;
 }
 
-const timerHardware_t* dshotBitbangGetPacerTimer(int index)
+const resourceOwner_t *dshotBitbangTimerGetOwner(int8_t timerNumber, uint16_t timerChannel)
 {
-    return index < usedMotorPorts ? bbPorts[index].timhw : NULL;
+    static resourceOwner_t bitbangOwner = { .owner = OWNER_DSHOT_BITBANG, .resourceIndex = 0 };
+
+    for (int index = 0; index < usedMotorPorts; index++) {
+        const timerHardware_t *timer = bbPorts[index].timhw;
+        if (timerGetTIMNumber(timer->tim) == timerNumber && timer->channel == timerChannel) {
+            return &bitbangOwner;
+        }
+    }
+
+    return &freeOwner;
 }
 
 // Return frequency of smallest change [state/sec]
@@ -304,7 +313,8 @@ static void bbFindPacerTimer(void)
             int timNumber = timerGetTIMNumber(timer->tim);
             bool timerConflict = false;
             for (int channel = 0; channel < CC_CHANNELS_PER_TIMER; channel++) {
-                if(timerGetOwner(timNumber, CC_CHANNEL_FROM_INDEX(channel))->owner != OWNER_FREE) {
+                const resourceOwner_e timerOwner = timerGetOwner(timNumber, CC_CHANNEL_FROM_INDEX(channel))->owner;
+                if (timerOwner != OWNER_FREE && timerOwner != OWNER_DSHOT_BITBANG) {
                     timerConflict = true;
                     break;
                 }

diff --git a/src/main/drivers/dshot_bitbang.h b/src/main/drivers/dshot_bitbang.h
@@ -38,4 +38,4 @@ struct motorDevConfig_s;
 struct motorDevice_s;
 struct motorDevice_s *dshotBitbangDevInit(const struct motorDevConfig_s *motorConfig, uint8_t motorCount);
 dshotBitbangStatus_e dshotBitbangGetStatus();
-const timerHardware_t* dshotBitbangGetPacerTimer(int index);
+const resourceOwner_t *dshotBitbangTimerGetOwner(int8_t timerNumber, uint16_t timerChannel);
diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
@@ -274,6 +274,8 @@ rccPeriphTag_t timerRCC(TIM_TypeDef *tim);
 uint8_t timerInputIrq(TIM_TypeDef *tim);
 
 #if defined(USE_TIMER_MGMT)
+extern const resourceOwner_t freeOwner;
+
 timerIOConfig_t *timerIoConfigByTag(ioTag_t ioTag);
 const resourceOwner_t *timerGetOwner(int8_t timerNumber, uint16_t timerChannel);
 #endif

diff --git a/src/main/drivers/timer_common.c b/src/main/drivers/timer_common.c
@@ -22,12 +22,15 @@
 
 #ifdef USE_TIMER
 
+#include "drivers/dshot_bitbang.h"
 #include "drivers/io.h"
 #include "timer.h"
 
 #ifdef USE_TIMER_MGMT
 #include "pg/timerio.h"
 
+const resourceOwner_t freeOwner = { .owner = OWNER_FREE, .resourceIndex = 0 };
+
 static resourceOwner_t timerOwners[MAX_TIMER_PINMAP_COUNT];
 
 timerIOConfig_t *timerIoConfigByTag(ioTag_t ioTag)
@@ -80,16 +83,23 @@ const timerHardware_t *timerGetByTag(ioTag_t ioTag)
 
 const resourceOwner_t *timerGetOwner(int8_t timerNumber, uint16_t timerChannel)
 {
-    static resourceOwner_t freeOwner = { .owner = OWNER_FREE, .resourceIndex = 0 };
-
+    const resourceOwner_t *timerOwner = &freeOwner;
     for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
         const timerHardware_t *timer = timerGetByTagAndIndex(timerIOConfig(i)->ioTag, timerIOConfig(i)->index);
         if (timer && timerGetTIMNumber(timer->tim) == timerNumber && timer->channel == timerChannel) {
-            return &timerOwners[i];
+            timerOwner = &timerOwners[i];
+
+            break;
         }
     }
 
-    return &freeOwner;
+#if defined(USE_DSHOT_BITBANG)
+    if (!timerOwner->owner) {
+        timerOwner = dshotBitbangTimerGetOwner(timerNumber, timerChannel);
+    }
+#endif
+
+    return timerOwner;
 }
 
 const timerHardware_t *timerAllocate(ioTag_t ioTag, resourceOwner_e owner, uint8_t resourceIndex)