Merge 651b001 into 757c637

paparazzi · Mar 20, 2024 · c759064 · c759064
2 parents 757c637 + 651b001
commit c759064
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Showing 23 changed files with 3,264 additions and 327 deletions.
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/modules/actuators_dshot.xml b/conf/modules/actuators_dshot.xml
@@ -9,6 +9,7 @@
       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.
     </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)"/>
   </doc>
   <dep>
@@ -19,8 +20,15 @@
     <file name="actuators_dshot.h"/>
   </header>
   <makefile>
+    <configure name="DSHOT_BIDIR" default="FALSE"/>
+    <define name="DSHOT_BIDIR" value="$(DSHOT_BIDIR)"/>
+    <define name="USE_GPT7" value="TRUE" cond="ifeq ($(DSHOT_BIDIR),TRUE)"/>
     <file_arch name="actuators_dshot_arch.c"/>
     <file_arch name="esc_dshot.c" cond="ifeq ($(RTOS),chibios)"/>
+    <file_arch name="dshot_rpmCapture.c" cond="ifeq ($(DSHOT_BIDIR),TRUE)"/>
+    <file_arch name="dshot_erps.c" cond="ifeq ($(DSHOT_BIDIR),TRUE)"/>
+    <file_arch name="inputCapture.c" cond="ifeq ($(DSHOT_BIDIR),TRUE)"/>
+    <file_arch name="timerDmaCache.c" cond="ifeq ($(DSHOT_BIDIR),TRUE)"/>
     <file_arch name="hal_stm32_dma.c" dir="mcu_periph" cond="ifeq ($(RTOS),chibios)"/>
     <test/>
   </makefile>

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