FIX: AT32 not reading ESC (betaflight#14220)

haslinghuis · Jan 30, 2025 · 3dba5e6 · 3dba5e6
1 parent bfea69a
commit 3dba5e6
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Showing 13 changed files with 75 additions and 82 deletions.
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
@@ -28,7 +28,7 @@
 
 #if defined(USE_PWM_OUTPUT) && defined(USE_MOTOR)
 
-FAST_DATA_ZERO_INIT pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
+FAST_DATA_ZERO_INIT pwmOutputPort_t pwmMotors[MAX_SUPPORTED_MOTORS];
 FAST_DATA_ZERO_INIT uint8_t pwmMotorCount;
 
 void analogInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow)
@@ -53,12 +53,12 @@ IO_t pwmGetMotorIO(unsigned index)
     if (index >= pwmMotorCount) {
         return IO_NONE;
     }
-    return motors[index].io;
+    return pwmMotors[index].io;
 }
 
 bool pwmIsMotorEnabled(unsigned index)
 {
-    return motors[index].enabled;
+    return pwmMotors[index].enabled;
 }
 
 bool pwmEnableMotors(void)

diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
@@ -50,7 +50,7 @@ typedef struct {
     IO_t io;
 } pwmOutputPort_t;
 
-extern FAST_DATA_ZERO_INIT pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
+extern FAST_DATA_ZERO_INIT pwmOutputPort_t pwmMotors[MAX_SUPPORTED_MOTORS];
 extern FAST_DATA_ZERO_INIT uint8_t pwmMotorCount;
 
 bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorDevConfig, uint16_t idlePulse);

diff --git a/src/platform/APM32/dshot_bitbang.c b/src/platform/APM32/dshot_bitbang.c
@@ -669,14 +669,6 @@ static void bbPostInit(void)
     }
 }
 
-static IO_t bbGetMotorIO(unsigned index)
-{
-    if (index >= dshotMotorCount) {
-        return IO_NONE;
-    }
-    return bbMotors[index].io;
-}
-
 static motorVTable_t bbVTable = {
     .postInit = bbPostInit,
     .enable = bbEnableMotors,

diff --git a/src/platform/APM32/pwm_output_apm32.c b/src/platform/APM32/pwm_output_apm32.c
@@ -90,15 +90,15 @@ static bool useContinuousUpdate = true;
 static void pwmWriteStandard(uint8_t index, float value)
 {
     /* TODO: move value to be a number between 0-1 (i.e. percent throttle from mixer) */
-    *motors[index].channel.ccr = lrintf((value * motors[index].pulseScale) + motors[index].pulseOffset);
+    *pwmMotors[index].channel.ccr = lrintf((value * pwmMotors[index].pulseScale) + pwmMotors[index].pulseOffset);
 }
 
 static void pwmShutdownPulsesForAllMotors(void)
 {
     for (int index = 0; index < pwmMotorCount; index++) {
         // Set the compare register to 0, which stops the output pulsing if the timer overflows
-        if (motors[index].channel.ccr) {
-            *motors[index].channel.ccr = 0;
+        if (pwmMotors[index].channel.ccr) {
+            *pwmMotors[index].channel.ccr = 0;
         }
     }
 }
@@ -117,12 +117,12 @@ static void pwmCompleteMotorUpdate(void)
     }
 
     for (int index = 0; index < pwmMotorCount; index++) {
-        if (motors[index].forceOverflow) {
-            timerForceOverflow(motors[index].channel.tim);
+        if (pwmMotors[index].forceOverflow) {
+            timerForceOverflow(pwmMotors[index].channel.tim);
         }
         // Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
         // This compare register will be set to the output value on the next main loop.
-        *motors[index].channel.ccr = 0;
+        *pwmMotors[index].channel.ccr = 0;
     }
 }
 
@@ -154,7 +154,7 @@ static motorVTable_t motorPwmVTable = {
 
 bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig, uint16_t idlePulse)
 {
-    memset(motors, 0, sizeof(motors));
+    memset(pwmMotors, 0, sizeof(pwmMotors));
 
     if (!device || !motorConfig) {
         return false;
@@ -206,10 +206,10 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
             return false;
         }
 
-        motors[motorIndex].io = IOGetByTag(tag);
-        IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
+        pwmMotors[motorIndex].io = IOGetByTag(tag);
+        IOInit(pwmMotors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
 
-        IOConfigGPIOAF(motors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction);
+        IOConfigGPIOAF(pwmMotors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction);
 
         /* standard PWM outputs */
         // margin of safety is 4 periods when unsynced
@@ -226,28 +226,28 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
             TODO: this can be moved back to periodMin and periodLen
             once mixer outputs a 0..1 float value.
         */
-        motors[motorIndex].pulseScale = ((motorConfig->motorProtocol == MOTOR_PROTOCOL_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
-        motors[motorIndex].pulseOffset = (sMin * hz) - (motors[motorIndex].pulseScale * 1000);
+        pwmMotors[motorIndex].pulseScale = ((motorConfig->motorProtocol == MOTOR_PROTOCOL_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
+        pwmMotors[motorIndex].pulseOffset = (sMin * hz) - (pwmMotors[motorIndex].pulseScale * 1000);
 
-        pwmOutConfig(&motors[motorIndex].channel, timerHardware, hz, period, idlePulse, motorConfig->motorInversion);
+        pwmOutConfig(&pwmMotors[motorIndex].channel, timerHardware, hz, period, idlePulse, motorConfig->motorInversion);
 
         bool timerAlreadyUsed = false;
         for (int i = 0; i < motorIndex; i++) {
-            if (motors[i].channel.tim == motors[motorIndex].channel.tim) {
+            if (pwmMotors[i].channel.tim == pwmMotors[motorIndex].channel.tim) {
                 timerAlreadyUsed = true;
                 break;
             }
         }
-        motors[motorIndex].forceOverflow = !timerAlreadyUsed;
-        motors[motorIndex].enabled = true;
+        pwmMotors[motorIndex].forceOverflow = !timerAlreadyUsed;
+        pwmMotors[motorIndex].enabled = true;
     }
 
     return true;
 }
 
 pwmOutputPort_t *pwmGetMotors(void)
 {
-    return motors;
+    return pwmMotors;
 }
 
 #ifdef USE_SERVOS

diff --git a/src/platform/AT32/dshot_bitbang.c b/src/platform/AT32/dshot_bitbang.c
@@ -583,7 +583,7 @@ static void bbUpdateComplete(void)
     }
 
 #ifdef USE_DSHOT_CACHE_MGMT
-    for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
+    for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < dshotMotorCount; motorIndex++) {
         // Only clean each buffer once. If all motors are on a common port they'll share a buffer.
         bool clean = false;
         for (int i = 0; i < motorIndex; i++) {
@@ -677,6 +677,7 @@ static motorVTable_t bbVTable = {
     .shutdown = bbShutdown,
     .isMotorIdle = bbDshotIsMotorIdle,
     .requestTelemetry = bbDshotRequestTelemetry,
+    .getMotorIO = bbGetMotorIO,
 };
 
 dshotBitbangStatus_e dshotBitbangGetStatus(void)

diff --git a/src/platform/AT32/io_at32.c b/src/platform/AT32/io_at32.c
@@ -122,16 +122,6 @@ void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af)
         return;
     }
 
-    const rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc;
-    RCC_ClockCmd(rcc, ENABLE);
-
-    gpio_init_type init = {
-        .gpio_pins = IO_Pin(io),
-        .gpio_mode = (cfg >> 0) & 0x03,
-        .gpio_drive_strength = (cfg >> 2) & 0x03,
-        .gpio_out_type = (cfg >> 4) & 0x01,
-        .gpio_pull = (cfg >> 5) & 0x03,
-    };
-    gpio_init(IO_GPIO(io), &init);
+    IOConfigGPIO(io, cfg);
     gpio_pin_mux_config(IO_GPIO(io), IO_GPIO_PinSource(io), af);
 }
diff --git a/src/platform/AT32/pwm_output_at32bsp.c b/src/platform/AT32/pwm_output_at32bsp.c
@@ -81,15 +81,15 @@ static FAST_DATA_ZERO_INIT motorDevice_t *pwmMotorDevice;
 static void pwmWriteStandard(uint8_t index, float value)
 {
     /* TODO: move value to be a number between 0-1 (i.e. percent throttle from mixer) */
-    *motors[index].channel.ccr = lrintf((value * motors[index].pulseScale) + motors[index].pulseOffset);
+    *pwmMotors[index].channel.ccr = lrintf((value * pwmMotors[index].pulseScale) + pwmMotors[index].pulseOffset);
 }
 
 static void pwmShutdownPulsesForAllMotors(void)
 {
     for (int index = 0; index < pwmMotorCount; index++) {
         // Set the compare register to 0, which stops the output pulsing if the timer overflows
-        if (motors[index].channel.ccr) {
-            *motors[index].channel.ccr = 0;
+        if (pwmMotors[index].channel.ccr) {
+            *pwmMotors[index].channel.ccr = 0;
         }
     }
 }
@@ -108,12 +108,12 @@ static void pwmCompleteMotorUpdate(void)
     }
 
     for (int index = 0; index < pwmMotorCount; index++) {
-        if (motors[index].forceOverflow) {
-            timerForceOverflow(motors[index].channel.tim);
+        if (pwmMotors[index].forceOverflow) {
+            timerForceOverflow(pwmMotors[index].channel.tim);
         }
         // Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
         // This compare register will be set to the output value on the next main loop.
-        *motors[index].channel.ccr = 0;
+        *pwmMotors[index].channel.ccr = 0;
     }
 }
 
@@ -145,7 +145,7 @@ static motorVTable_t motorPwmVTable = {
 
 bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig, uint16_t idlePulse)
 {
-    memset(motors, 0, sizeof(motors));
+    memset(pwmMotors, 0, sizeof(pwmMotors));
 
     if (!device) {
         return false;
@@ -198,10 +198,10 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
             return false;
         }
 
-        motors[motorIndex].io = IOGetByTag(tag);
-        IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
+        pwmMotors[motorIndex].io = IOGetByTag(tag);
+        IOInit(pwmMotors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
 
-        IOConfigGPIOAF(motors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction);
+        IOConfigGPIOAF(pwmMotors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction);
 
         /* standard PWM outputs */
         // margin of safety is 4 periods when unsynced
@@ -218,27 +218,27 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
             TODO: this can be moved back to periodMin and periodLen
             once mixer outputs a 0..1 float value.
         */
-        motors[motorIndex].pulseScale = ((motorConfig->motorProtocol == MOTOR_PROTOCOL_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
-        motors[motorIndex].pulseOffset = (sMin * hz) - (motors[motorIndex].pulseScale * 1000);
+        pwmMotors[motorIndex].pulseScale = ((motorConfig->motorProtocol == MOTOR_PROTOCOL_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
+        pwmMotors[motorIndex].pulseOffset = (sMin * hz) - (pwmMotors[motorIndex].pulseScale * 1000);
 
-        pwmOutConfig(&motors[motorIndex].channel, timerHardware, hz, period, idlePulse, motorConfig->motorInversion);
+        pwmOutConfig(&pwmMotors[motorIndex].channel, timerHardware, hz, period, idlePulse, motorConfig->motorInversion);
 
         bool timerAlreadyUsed = false;
         for (int i = 0; i < motorIndex; i++) {
-            if (motors[i].channel.tim == motors[motorIndex].channel.tim) {
+            if (pwmMotors[i].channel.tim == pwmMotors[motorIndex].channel.tim) {
                 timerAlreadyUsed = true;
                 break;
             }
         }
-        motors[motorIndex].forceOverflow = !timerAlreadyUsed;
-        motors[motorIndex].enabled = true;
+        pwmMotors[motorIndex].forceOverflow = !timerAlreadyUsed;
+        pwmMotors[motorIndex].enabled = true;
     }
     return true;
 }
 
 pwmOutputPort_t *pwmGetMotors(void)
 {
-    return motors;
+    return pwmMotors;
 }
 
 #ifdef USE_SERVOS

diff --git a/src/platform/SIMULATOR/sitl.c b/src/platform/SIMULATOR/sitl.c
@@ -546,7 +546,7 @@ void servoDevInit(const servoDevConfig_t *servoConfig)
 
 pwmOutputPort_t *pwmGetMotors(void)
 {
-    return motors;
+    return pwmMotors;
 }
 
 static float pwmConvertFromExternal(uint16_t externalValue)
@@ -652,7 +652,7 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
     idlePulse = _idlePulse;
 
     for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
-        motors[motorIndex].enabled = true;
+        pwmMotors[motorIndex].enabled = true;
     }
 
     return true;

diff --git a/src/platform/STM32/dshot_bitbang.c b/src/platform/STM32/dshot_bitbang.c
@@ -716,6 +716,7 @@ static const motorVTable_t bbVTable = {
     .shutdown = bbShutdown,
     .isMotorIdle = bbDshotIsMotorIdle,
     .requestTelemetry = bbDshotRequestTelemetry,
+    .getMotorIO = bbGetMotorIO,
 };
 
 dshotBitbangStatus_e dshotBitbangGetStatus(void)

diff --git a/src/platform/STM32/pwm_output_hw.c b/src/platform/STM32/pwm_output_hw.c
@@ -111,15 +111,15 @@ void pwmOutConfig(timerChannel_t *channel, const timerHardware_t *timerHardware,
 static void pwmWriteStandard(uint8_t index, float value)
 {
     /* TODO: move value to be a number between 0-1 (i.e. percent throttle from mixer) */
-    *motors[index].channel.ccr = lrintf((value * motors[index].pulseScale) + motors[index].pulseOffset);
+    *pwmMotors[index].channel.ccr = lrintf((value * pwmMotors[index].pulseScale) + pwmMotors[index].pulseOffset);
 }
 
 static void pwmShutdownPulsesForAllMotors(void)
 {
     for (int index = 0; pwmMotorCount; index++) {
         // Set the compare register to 0, which stops the output pulsing if the timer overflows
-        if (motors[index].channel.ccr) {
-            *motors[index].channel.ccr = 0;
+        if (pwmMotors[index].channel.ccr) {
+            *pwmMotors[index].channel.ccr = 0;
         }
     }
 }
@@ -136,12 +136,12 @@ static void pwmCompleteMotorUpdate(void)
     }
 
     for (int index = 0; pwmMotorCount; index++) {
-        if (motors[index].forceOverflow) {
-            timerForceOverflow(motors[index].channel.tim);
+        if (pwmMotors[index].forceOverflow) {
+            timerForceOverflow(pwmMotors[index].channel.tim);
         }
         // Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
         // This compare register will be set to the output value on the next main loop.
-        *motors[index].channel.ccr = 0;
+        *pwmMotors[index].channel.ccr = 0;
     }
 }
 
@@ -173,7 +173,7 @@ static const motorVTable_t motorPwmVTable = {
 
 bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig, uint16_t idlePulse)
 {
-    memset(motors, 0, sizeof(motors));
+    memset(pwmMotors, 0, sizeof(pwmMotors));
 
     pwmMotorCount = device->count;
     device->vTable = &motorPwmVTable;
@@ -221,10 +221,10 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
             return false;
         }
 
-        motors[motorIndex].io = IOGetByTag(tag);
-        IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
+        pwmMotors[motorIndex].io = IOGetByTag(tag);
+        IOInit(pwmMotors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
 
-        IOConfigGPIOAF(motors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction);
+        IOConfigGPIOAF(pwmMotors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction);
 
         /* standard PWM outputs */
         // margin of safety is 4 periods when unsynced
@@ -241,28 +241,28 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
             TODO: this can be moved back to periodMin and periodLen
             once mixer outputs a 0..1 float value.
         */
-        motors[motorIndex].pulseScale = ((motorConfig->motorProtocol == MOTOR_PROTOCOL_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
-        motors[motorIndex].pulseOffset = (sMin * hz) - (motors[motorIndex].pulseScale * 1000);
+        pwmMotors[motorIndex].pulseScale = ((motorConfig->motorProtocol == MOTOR_PROTOCOL_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
+        pwmMotors[motorIndex].pulseOffset = (sMin * hz) - (pwmMotors[motorIndex].pulseScale * 1000);
 
-        pwmOutConfig(&motors[motorIndex].channel, timerHardware, hz, period, idlePulse, motorConfig->motorInversion);
+        pwmOutConfig(&pwmMotors[motorIndex].channel, timerHardware, hz, period, idlePulse, motorConfig->motorInversion);
 
         bool timerAlreadyUsed = false;
         for (int i = 0; i < motorIndex; i++) {
-            if (motors[i].channel.tim == motors[motorIndex].channel.tim) {
+            if (pwmMotors[i].channel.tim == pwmMotors[motorIndex].channel.tim) {
                 timerAlreadyUsed = true;
                 break;
             }
         }
-        motors[motorIndex].forceOverflow = !timerAlreadyUsed;
-        motors[motorIndex].enabled = true;
+        pwmMotors[motorIndex].forceOverflow = !timerAlreadyUsed;
+        pwmMotors[motorIndex].enabled = true;
     }
 
     return true;
 }
 
 pwmOutputPort_t *pwmGetMotors(void)
 {
-    return motors;
+    return pwmMotors;
 }
 
 #ifdef USE_SERVOS

diff --git a/src/platform/common/stm32/dshot_bitbang_impl.h b/src/platform/common/stm32/dshot_bitbang_impl.h
@@ -285,3 +285,4 @@ int  bbDMA_Count(bbPort_t *bbPort);
 
 void bbDshotRequestTelemetry(unsigned motorIndex);
 bool bbDshotIsMotorIdle(unsigned motorIndex);
+IO_t bbGetMotorIO(unsigned index);
Original file line number	Diff line number	Diff line change
Expand Up		@@ -285,3 +285,4 @@ int bbDMA_Count(bbPort_t *bbPort);

		void bbDshotRequestTelemetry(unsigned motorIndex);
		bool bbDshotIsMotorIdle(unsigned motorIndex);
		IO_t bbGetMotorIO(unsigned index);