src/main/drivers/dshot_bitbang.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdint.h>
  22 #include <math.h>
  23 #include <string.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_DSHOT_BITBANG
  28
  29 #include "build/debug.h"
  30 #include "build/debug_pin.h"
  31
  32 #include "drivers/io.h"
  33 #include "drivers/io_impl.h"
  34 #include "drivers/dma.h"
  35 #include "drivers/dma_reqmap.h"
  36 #include "drivers/dshot.h"
  37 #include "drivers/dshot_bitbang.h"
  38 #include "drivers/dshot_bitbang_impl.h"
  39 #include "drivers/dshot_command.h"
  40 #include "drivers/motor.h"
  41 #include "drivers/nvic.h"
  42 #include "drivers/pwm_output.h" // XXX for pwmOutputPort_t motors[]; should go away with refactoring
  43 #include "drivers/dshot_dpwm.h" // XXX for motorDmaOutput_t *getMotorDmaOutput(uint8_t index); should go away with refactoring
  44 #include "drivers/dshot_bitbang_decode.h"
  45 #include "drivers/time.h"
  46 #include "drivers/timer.h"
  47
  48 #include "pg/motor.h"
  49
  50 FAST_DATA_ZERO_INIT bbPacer_t bbPacers[MAX_MOTOR_PACERS];  // TIM1 or TIM8
  51 FAST_DATA_ZERO_INIT int usedMotorPacers = 0;
  52
  53 FAST_DATA_ZERO_INIT bbPort_t bbPorts[MAX_SUPPORTED_MOTOR_PORTS];
  54 FAST_DATA_ZERO_INIT int usedMotorPorts;
  55
  56 FAST_DATA_ZERO_INIT bbMotor_t bbMotors[MAX_SUPPORTED_MOTORS];
  57
  58 static FAST_DATA_ZERO_INIT int motorCount;
  59 dshotBitbangStatus_e bbStatus;
  60
  61 // For MCUs that use MPU to control DMA coherency, there might be a performance hit
  62 // on manipulating input buffer content especially if it is read multiple times,
  63 // as the buffer region is attributed as not cachable.
  64 // If this is not desirable, we should use manual cache invalidation.
  65 #ifdef USE_DSHOT_CACHE_MGMT
  66 #define BB_OUTPUT_BUFFER_ATTRIBUTE DMA_RW_AXI __attribute__((aligned(32)))
  67 #define BB_INPUT_BUFFER_ATTRIBUTE  DMA_RW_AXI __attribute__((aligned(32)))
  68 #else
  69 #if defined(STM32F4)
  70 #define BB_OUTPUT_BUFFER_ATTRIBUTE
  71 #define BB_INPUT_BUFFER_ATTRIBUTE
  72 #elif defined(STM32F7)
  73 #define BB_OUTPUT_BUFFER_ATTRIBUTE FAST_DATA_ZERO_INIT
  74 #define BB_INPUT_BUFFER_ATTRIBUTE  FAST_DATA_ZERO_INIT
  75 #elif defined(STM32H7)
  76 #define BB_OUTPUT_BUFFER_ATTRIBUTE DMA_RAM
  77 #define BB_INPUT_BUFFER_ATTRIBUTE  DMA_RAM
  78 #elif defined(STM32G4)
  79 #define BB_OUTPUT_BUFFER_ATTRIBUTE DMA_RAM_W
  80 #define BB_INPUT_BUFFER_ATTRIBUTE  DMA_RAM_R
  81 #endif
  82 #endif // USE_DSHOT_CACHE_MGMT
  83
  84 BB_OUTPUT_BUFFER_ATTRIBUTE uint32_t bbOutputBuffer[MOTOR_DSHOT_BUF_CACHE_ALIGN_LENGTH * MAX_SUPPORTED_MOTOR_PORTS];
  85 BB_INPUT_BUFFER_ATTRIBUTE uint16_t bbInputBuffer[DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_LENGTH * MAX_SUPPORTED_MOTOR_PORTS];
  86
  87 uint8_t bbPuPdMode;
  88 FAST_DATA_ZERO_INIT timeUs_t dshotFrameUs;
  89
  90
  91 const timerHardware_t bbTimerHardware[] = {
  92 #if defined(STM32F4) || defined(STM32F7)
  93 #if !defined(STM32F411xE)
  94     DEF_TIM(TIM8,  CH1, NONE,  TIM_USE_NONE, 0, 1),
  95     DEF_TIM(TIM8,  CH2, NONE,  TIM_USE_NONE, 0, 1),
  96     DEF_TIM(TIM8,  CH3, NONE,  TIM_USE_NONE, 0, 1),
  97     DEF_TIM(TIM8,  CH4, NONE,  TIM_USE_NONE, 0, 0),
  98 #endif
  99     DEF_TIM(TIM1,  CH1, NONE,  TIM_USE_NONE, 0, 1),
 100     DEF_TIM(TIM1,  CH1, NONE,  TIM_USE_NONE, 0, 2),
 101     DEF_TIM(TIM1,  CH2, NONE,  TIM_USE_NONE, 0, 1),
 102     DEF_TIM(TIM1,  CH3, NONE,  TIM_USE_NONE, 0, 1),
 103     DEF_TIM(TIM1,  CH4, NONE,  TIM_USE_NONE, 0, 0),
 104
 105 #elif defined(STM32G4) || defined(STM32H7)
 106     // XXX TODO: STM32G4 and STM32H7 can use any timer for pacing
 107
 108     // DMA request numbers are duplicated for TIM1 and TIM8:
 109     //   - Any pacer can serve a GPIO port.
 110     //   - For quads (or less), 4 pacers can cover the worst case scenario of
 111     //     4 motors scattered across 4 different GPIO ports.
 112     //   - For hexas (and larger), more channels may become necessary,
 113     //     in which case the DMA request numbers should be modified.
 114     DEF_TIM(TIM8,  CH1, NONE,  TIM_USE_NONE, 0, 0, 0),
 115     DEF_TIM(TIM8,  CH2, NONE,  TIM_USE_NONE, 0, 1, 0),
 116     DEF_TIM(TIM8,  CH3, NONE,  TIM_USE_NONE, 0, 2, 0),
 117     DEF_TIM(TIM8,  CH4, NONE,  TIM_USE_NONE, 0, 3, 0),
 118     DEF_TIM(TIM1,  CH1, NONE,  TIM_USE_NONE, 0, 0, 0),
 119     DEF_TIM(TIM1,  CH2, NONE,  TIM_USE_NONE, 0, 1, 0),
 120     DEF_TIM(TIM1,  CH3, NONE,  TIM_USE_NONE, 0, 2, 0),
 121     DEF_TIM(TIM1,  CH4, NONE,  TIM_USE_NONE, 0, 3, 0),
 122
 123 #else
 124 #error MCU dependent code required
 125 #endif
 126 };
 127
 128 static FAST_DATA_ZERO_INIT motorDevice_t bbDevice;
 129 static FAST_DATA_ZERO_INIT timeUs_t lastSendUs;
 130
 131 static motorPwmProtocolTypes_e motorPwmProtocol;
 132
 133 // DMA GPIO output buffer formatting
 134
 135 static void bbOutputDataInit(uint32_t *buffer, uint16_t portMask, bool inverted)
 136 {
 137     uint32_t resetMask;
 138     uint32_t setMask;
 139
 140     if (inverted) {
 141         resetMask = portMask;
 142         setMask = (portMask << 16);
 143     } else {
 144         resetMask = (portMask << 16);
 145         setMask = portMask;
 146     }
 147
 148     int bitpos;
 149
 150     for (bitpos = 0; bitpos < 16; bitpos++) {
 151         buffer[bitpos * 3 + 0] |= setMask ; // Always set all ports
 152         buffer[bitpos * 3 + 1] = 0;          // Reset bits are port dependent
 153         buffer[bitpos * 3 + 2] |= resetMask; // Always reset all ports
 154     }
 155 }
 156
 157 static void bbOutputDataSet(uint32_t *buffer, int pinNumber, uint16_t value, bool inverted)
 158 {
 159     uint32_t middleBit;
 160
 161     if (inverted) {
 162         middleBit = (1 << (pinNumber + 0));
 163     } else {
 164         middleBit = (1 << (pinNumber + 16));
 165     }
 166
 167     for (int pos = 0; pos < 16; pos++) {
 168         if (!(value & 0x8000)) {
 169             buffer[pos * 3 + 1] |= middleBit;
 170         }
 171         value <<= 1;
 172     }
 173 }
 174
 175 static void bbOutputDataClear(uint32_t *buffer)
 176 {
 177     // Middle position to no change
 178     for (int bitpos = 0; bitpos < 16; bitpos++) {
 179         buffer[bitpos * 3 + 1] = 0;
 180     }
 181 }
 182
 183 // bbPacer management
 184
 185 static bbPacer_t *bbFindMotorPacer(TIM_TypeDef *tim)
 186 {
 187     for (int i = 0; i < MAX_MOTOR_PACERS; i++) {
 188
 189         bbPacer_t *bbPacer = &bbPacers[i];
 190
 191         if (bbPacer->tim == NULL) {
 192             bbPacer->tim = tim;
 193             ++usedMotorPacers;
 194             return bbPacer;
 195         }
 196
 197         if (bbPacer->tim == tim) {
 198             return bbPacer;
 199         }
 200     }
 201
 202     return NULL;
 203 }
 204
 205 // bbPort management
 206
 207 static bbPort_t *bbFindMotorPort(int portIndex)
 208 {
 209     for (int i = 0; i < usedMotorPorts; i++) {
 210         if (bbPorts[i].portIndex == portIndex) {
 211             return &bbPorts[i];
 212         }
 213     }
 214     return NULL;
 215 }
 216
 217 static bbPort_t *bbAllocateMotorPort(int portIndex)
 218 {
 219     if (usedMotorPorts >= MAX_SUPPORTED_MOTOR_PORTS) {
 220         bbStatus = DSHOT_BITBANG_STATUS_TOO_MANY_PORTS;
 221         return NULL;
 222     }
 223
 224     bbPort_t *bbPort = &bbPorts[usedMotorPorts];
 225
 226     if (!bbPort->timhw) {
 227         // No more pacer channel available
 228         bbStatus = DSHOT_BITBANG_STATUS_NO_PACER;
 229         return NULL;
 230     }
 231
 232     bbPort->portIndex = portIndex;
 233     bbPort->owner.owner = OWNER_DSHOT_BITBANG;
 234     bbPort->owner.resourceIndex = RESOURCE_INDEX(portIndex);
 235
 236     ++usedMotorPorts;
 237
 238     return bbPort;
 239 }
 240
 241 const timerHardware_t *dshotBitbangTimerGetAllocatedByNumberAndChannel(int8_t timerNumber, uint16_t timerChannel)
 242 {
 243     for (int index = 0; index < usedMotorPorts; index++) {
 244         const timerHardware_t *bitbangTimer = bbPorts[index].timhw;
 245         if (bitbangTimer && timerGetTIMNumber(bitbangTimer->tim) == timerNumber && bitbangTimer->channel == timerChannel && bbPorts[index].owner.owner) {
 246             return bitbangTimer;
 247         }
 248     }
 249
 250     return NULL;
 251 }
 252
 253 const resourceOwner_t *dshotBitbangTimerGetOwner(const timerHardware_t *timer)
 254 {
 255     for (int index = 0; index < usedMotorPorts; index++) {
 256         const timerHardware_t *bitbangTimer = bbPorts[index].timhw;
 257         if (bitbangTimer && bitbangTimer == timer) {
 258             return &bbPorts[index].owner;
 259         }
 260     }
 261
 262     return &freeOwner;
 263 }
 264
 265 // Return frequency of smallest change [state/sec]
 266
 267 static uint32_t getDshotBaseFrequency(motorPwmProtocolTypes_e pwmProtocolType)
 268 {
 269     switch (pwmProtocolType) {
 270     case(PWM_TYPE_DSHOT600):
 271         return MOTOR_DSHOT600_SYMBOL_RATE * MOTOR_DSHOT_STATE_PER_SYMBOL;
 272     case(PWM_TYPE_DSHOT300):
 273         return MOTOR_DSHOT300_SYMBOL_RATE * MOTOR_DSHOT_STATE_PER_SYMBOL;
 274     default:
 275     case(PWM_TYPE_DSHOT150):
 276         return MOTOR_DSHOT150_SYMBOL_RATE * MOTOR_DSHOT_STATE_PER_SYMBOL;
 277     }
 278 }
 279
 280 static void bbSetupDma(bbPort_t *bbPort)
 281 {
 282     const dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(bbPort->dmaResource);
 283     dmaEnable(dmaIdentifier);
 284     bbPort->dmaSource = timerDmaSource(bbPort->timhw->channel);
 285
 286     bbPacer_t *bbPacer = bbFindMotorPacer(bbPort->timhw->tim);
 287     bbPacer->dmaSources |= bbPort->dmaSource;
 288
 289     dmaSetHandler(dmaIdentifier, bbDMAIrqHandler, NVIC_BUILD_PRIORITY(2, 1), (uint32_t)bbPort);
 290
 291     bbDMA_ITConfig(bbPort);
 292 }
 293
 294 FAST_IRQ_HANDLER void bbDMAIrqHandler(dmaChannelDescriptor_t *descriptor)
 295 {
 296     dbgPinHi(0);
 297
 298     bbPort_t *bbPort = (bbPort_t *)descriptor->userParam;
 299
 300     bbDMA_Cmd(bbPort, DISABLE);
 301
 302     bbTIM_DMACmd(bbPort->timhw->tim, bbPort->dmaSource, DISABLE);
 303
 304     if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TEIF)) {
 305         while (1) {};
 306     }
 307
 308     DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
 309
 310 #ifdef USE_DSHOT_TELEMETRY
 311     if (useDshotTelemetry) {
 312         if (bbPort->direction == DSHOT_BITBANG_DIRECTION_INPUT) {
 313 #ifdef DEBUG_COUNT_INTERRUPT
 314             bbPort->inputIrq++;
 315 #endif
 316         } else {
 317 #ifdef DEBUG_COUNT_INTERRUPT
 318             bbPort->outputIrq++;
 319 #endif
 320
 321             // Switch to input
 322
 323             bbSwitchToInput(bbPort);
 324
 325             bbTIM_DMACmd(bbPort->timhw->tim, bbPort->dmaSource, ENABLE);
 326         }
 327     }
 328 #endif
 329     dbgPinLo(0);
 330 }
 331
 332 // Setup bbPorts array elements so that they each have a TIM1 or TIM8 channel
 333 // in timerHardware array for BB-DShot.
 334
 335 static void bbFindPacerTimer(void)
 336 {
 337     for (int bbPortIndex = 0; bbPortIndex < MAX_SUPPORTED_MOTOR_PORTS; bbPortIndex++) {
 338         for (unsigned timerIndex = 0; timerIndex < ARRAYLEN(bbTimerHardware); timerIndex++) {
 339             const timerHardware_t *timer = &bbTimerHardware[timerIndex];
 340             int timNumber = timerGetTIMNumber(timer->tim);
 341             if ((motorConfig()->dev.useDshotBitbangedTimer == DSHOT_BITBANGED_TIMER_TIM1 && timNumber != 1)
 342                 || (motorConfig()->dev.useDshotBitbangedTimer == DSHOT_BITBANGED_TIMER_TIM8 && timNumber != 8)) {
 343                 continue;
 344             }
 345             bool timerConflict = false;
 346             for (int channel = 0; channel < CC_CHANNELS_PER_TIMER; channel++) {
 347                 const timerHardware_t *timer = timerGetAllocatedByNumberAndChannel(timNumber, CC_CHANNEL_FROM_INDEX(channel));
 348                 const resourceOwner_e timerOwner = timerGetOwner(timer)->owner;
 349                 if (timerOwner != OWNER_FREE && timerOwner != OWNER_DSHOT_BITBANG) {
 350                     timerConflict = true;
 351                     break;
 352                 }
 353             }
 354
 355             for (int index = 0; index < bbPortIndex; index++) {
 356                 const timerHardware_t* t = bbPorts[index].timhw;
 357                 if (timerGetTIMNumber(t->tim) == timNumber && timer->channel == t->channel) {
 358                     timerConflict = true;
 359                     break;
 360                 }
 361             }
 362
 363             if (timerConflict) {
 364                 continue;
 365             }
 366
 367 #ifdef USE_DMA_SPEC
 368             dmaoptValue_t dmaopt = dmaGetOptionByTimer(timer);
 369             const dmaChannelSpec_t *dmaChannelSpec = dmaGetChannelSpecByTimerValue(timer->tim, timer->channel, dmaopt);
 370             dmaResource_t *dma = dmaChannelSpec->ref;
 371 #else
 372             dmaResource_t *dma = timer->dmaRef;
 373 #endif
 374             dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(dma);
 375             if (dmaGetOwner(dmaIdentifier)->owner == OWNER_FREE) {
 376                 bbPorts[bbPortIndex].timhw = timer;
 377
 378                 break;
 379             }
 380         }
 381     }
 382 }
 383
 384 static void bbTimebaseSetup(bbPort_t *bbPort, motorPwmProtocolTypes_e dshotProtocolType)
 385 {
 386     uint32_t timerclock = timerClock(bbPort->timhw->tim);
 387
 388     uint32_t outputFreq = getDshotBaseFrequency(dshotProtocolType);
 389     dshotFrameUs = 1000000 * 17 * 3 / outputFreq;
 390     bbPort->outputARR = timerclock / outputFreq - 1;
 391
 392     // XXX Explain this formula
 393     uint32_t inputFreq = outputFreq * 5 * 2 * DSHOT_BITBANG_TELEMETRY_OVER_SAMPLE / 24;
 394     bbPort->inputARR = timerclock / inputFreq - 1;
 395 }
 396
 397 //
 398 // bb only use pin info associated with timerHardware entry designated as TIM_USE_MOTOR;
 399 // it does not use the timer channel associated with the pin.
 400 //
 401
 402 static bool bbMotorConfig(IO_t io, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
 403 {
 404     int pinIndex = IO_GPIOPinIdx(io);
 405     int portIndex = IO_GPIOPortIdx(io);
 406
 407     bbPort_t *bbPort = bbFindMotorPort(portIndex);
 408
 409     if (!bbPort) {
 410
 411         // New port group
 412
 413         bbPort = bbAllocateMotorPort(portIndex);
 414
 415         if (bbPort) {
 416             const timerHardware_t *timhw = bbPort->timhw;
 417
 418 #ifdef USE_DMA_SPEC
 419             const dmaChannelSpec_t *dmaChannelSpec = dmaGetChannelSpecByTimerValue(timhw->tim, timhw->channel, dmaGetOptionByTimer(timhw));
 420             bbPort->dmaResource = dmaChannelSpec->ref;
 421             bbPort->dmaChannel = dmaChannelSpec->channel;
 422 #else
 423             bbPort->dmaResource = timhw->dmaRef;
 424             bbPort->dmaChannel = timhw->dmaChannel;
 425 #endif
 426         }
 427
 428         if (!bbPort || !dmaAllocate(dmaGetIdentifier(bbPort->dmaResource), bbPort->owner.owner, bbPort->owner.resourceIndex)) {
 429             bbDevice.vTable.write = motorWriteNull;
 430             bbDevice.vTable.updateStart = motorUpdateStartNull;
 431             bbDevice.vTable.updateComplete = motorUpdateCompleteNull;
 432
 433             return false;
 434         }
 435
 436         bbPort->gpio = IO_GPIO(io);
 437
 438         bbPort->portOutputCount = MOTOR_DSHOT_BUF_LENGTH;
 439         bbPort->portOutputBuffer = &bbOutputBuffer[(bbPort - bbPorts) * MOTOR_DSHOT_BUF_CACHE_ALIGN_LENGTH];
 440
 441         bbPort->portInputCount = DSHOT_BB_PORT_IP_BUF_LENGTH;
 442         bbPort->portInputBuffer = &bbInputBuffer[(bbPort - bbPorts) * DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_LENGTH];
 443
 444         bbTimebaseSetup(bbPort, pwmProtocolType);
 445         bbTIM_TimeBaseInit(bbPort, bbPort->outputARR);
 446         bbTimerChannelInit(bbPort);
 447
 448         bbSetupDma(bbPort);
 449         bbDMAPreconfigure(bbPort, DSHOT_BITBANG_DIRECTION_OUTPUT);
 450         bbDMAPreconfigure(bbPort, DSHOT_BITBANG_DIRECTION_INPUT);
 451
 452         bbDMA_ITConfig(bbPort);
 453     }
 454
 455     bbMotors[motorIndex].pinIndex = pinIndex;
 456     bbMotors[motorIndex].io = io;
 457     bbMotors[motorIndex].output = output;
 458     bbMotors[motorIndex].bbPort = bbPort;
 459
 460     IOInit(io, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
 461
 462     // Setup GPIO_MODER and GPIO_ODR register manipulation values
 463
 464     bbGpioSetup(&bbMotors[motorIndex]);
 465
 466 #ifdef USE_DSHOT_TELEMETRY
 467     if (useDshotTelemetry) {
 468         bbOutputDataInit(bbPort->portOutputBuffer, (1 << pinIndex), DSHOT_BITBANG_INVERTED);
 469     } else
 470 #endif
 471     {
 472         bbOutputDataInit(bbPort->portOutputBuffer, (1 << pinIndex), DSHOT_BITBANG_NONINVERTED);
 473     }
 474
 475     bbSwitchToOutput(bbPort);
 476
 477     bbMotors[motorIndex].configured = true;
 478
 479     return true;
 480 }
 481
 482 static bool bbUpdateStart(void)
 483 {
 484 #ifdef USE_DSHOT_TELEMETRY
 485     if (useDshotTelemetry) {
 486 #ifdef USE_DSHOT_TELEMETRY_STATS
 487         const timeMs_t currentTimeMs = millis();
 488 #endif
 489         timeUs_t currentUs = micros();
 490         // don't send while telemetry frames might still be incoming
 491         if (cmpTimeUs(currentUs, lastSendUs) < (timeDelta_t)(40 + 2 * dshotFrameUs)) {
 492             return false;
 493         }
 494
 495         for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
 496 #ifdef USE_DSHOT_CACHE_MGMT
 497             // Only invalidate the buffer once. If all motors are on a common port they'll share a buffer.
 498             bool invalidated = false;
 499             for (int i = 0; i < motorIndex; i++) {
 500                 if (bbMotors[motorIndex].bbPort->portInputBuffer == bbMotors[i].bbPort->portInputBuffer) {
 501                     invalidated = true;
 502                 }
 503             }
 504             if (!invalidated) {
 505                 SCB_InvalidateDCache_by_Addr((uint32_t *)bbMotors[motorIndex].bbPort->portInputBuffer,
 506                                              DSHOT_BB_PORT_IP_BUF_CACHE_ALIGN_BYTES);
 507             }
 508 #endif
 509
 510 #ifdef STM32F4
 511             uint32_t value = decode_bb_bitband(
 512                 bbMotors[motorIndex].bbPort->portInputBuffer,
 513                 bbMotors[motorIndex].bbPort->portInputCount - bbDMA_Count(bbMotors[motorIndex].bbPort),
 514                 bbMotors[motorIndex].pinIndex);
 515 #else
 516             uint32_t value = decode_bb(
 517                 bbMotors[motorIndex].bbPort->portInputBuffer,
 518                 bbMotors[motorIndex].bbPort->portInputCount - bbDMA_Count(bbMotors[motorIndex].bbPort),
 519                 bbMotors[motorIndex].pinIndex);
 520 #endif
 521             if (value == BB_NOEDGE) {
 522                 continue;
 523             }
 524             dshotTelemetryState.readCount++;
 525
 526             if (value != BB_INVALID) {
 527                 dshotTelemetryState.motorState[motorIndex].telemetryValue = value;
 528                 dshotTelemetryState.motorState[motorIndex].telemetryActive = true;
 529                 if (motorIndex < 4) {
 530                     DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, value);
 531                 }
 532             } else {
 533                 dshotTelemetryState.invalidPacketCount++;
 534             }
 535 #ifdef USE_DSHOT_TELEMETRY_STATS
 536             updateDshotTelemetryQuality(&dshotTelemetryQuality[motorIndex], value != BB_INVALID, currentTimeMs);
 537 #endif
 538         }
 539     }
 540 #endif
 541     for (int i = 0; i < usedMotorPorts; i++) {
 542         bbDMA_Cmd(&bbPorts[i], DISABLE);
 543         bbOutputDataClear(bbPorts[i].portOutputBuffer);
 544     }
 545
 546     return true;
 547 }
 548
 549 static void bbWriteInt(uint8_t motorIndex, uint16_t value)
 550 {
 551     bbMotor_t *const bbmotor = &bbMotors[motorIndex];
 552
 553     if (!bbmotor->configured) {
 554         return;
 555     }
 556
 557     // fetch requestTelemetry from motors. Needs to be refactored.
 558     motorDmaOutput_t * const motor = getMotorDmaOutput(motorIndex);
 559     bbmotor->protocolControl.requestTelemetry = motor->protocolControl.requestTelemetry;
 560     motor->protocolControl.requestTelemetry = false;
 561
 562     // If there is a command ready to go overwrite the value and send that instead
 563     if (dshotCommandIsProcessing()) {
 564         value = dshotCommandGetCurrent(motorIndex);
 565         if (value) {
 566             bbmotor->protocolControl.requestTelemetry = true;
 567         }
 568     }
 569
 570     bbmotor->protocolControl.value = value;
 571
 572     uint16_t packet = prepareDshotPacket(&bbmotor->protocolControl);
 573
 574     bbPort_t *bbPort = bbmotor->bbPort;
 575
 576 #ifdef USE_DSHOT_TELEMETRY
 577     if (useDshotTelemetry) {
 578         bbOutputDataSet(bbPort->portOutputBuffer, bbmotor->pinIndex, packet, DSHOT_BITBANG_INVERTED);
 579     } else
 580 #endif
 581     {
 582         bbOutputDataSet(bbPort->portOutputBuffer, bbmotor->pinIndex, packet, DSHOT_BITBANG_NONINVERTED);
 583     }
 584 }
 585
 586 static void bbWrite(uint8_t motorIndex, float value)
 587 {
 588     bbWriteInt(motorIndex, value);
 589 }
 590
 591 static void bbUpdateComplete(void)
 592 {
 593     // If there is a dshot command loaded up, time it correctly with motor update
 594
 595     if (!dshotCommandQueueEmpty()) {
 596         if (!dshotCommandOutputIsEnabled(bbDevice.count)) {
 597             return;
 598         }
 599     }
 600
 601 #ifdef USE_DSHOT_CACHE_MGMT
 602     for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
 603         // Only clean each buffer once. If all motors are on a common port they'll share a buffer.
 604         bool clean = false;
 605         for (int i = 0; i < motorIndex; i++) {
 606             if (bbMotors[motorIndex].bbPort->portOutputBuffer == bbMotors[i].bbPort->portOutputBuffer) {
 607                 clean = true;
 608             }
 609         }
 610         if (!clean) {
 611             SCB_CleanDCache_by_Addr(bbMotors[motorIndex].bbPort->portOutputBuffer, MOTOR_DSHOT_BUF_CACHE_ALIGN_BYTES);
 612         }
 613     }
 614 #endif
 615
 616     for (int i = 0; i < usedMotorPorts; i++) {
 617         bbPort_t *bbPort = &bbPorts[i];
 618
 619 #ifdef USE_DSHOT_TELEMETRY
 620         if (useDshotTelemetry) {
 621             if (bbPort->direction == DSHOT_BITBANG_DIRECTION_INPUT) {
 622                 bbPort->inputActive = false;
 623                 bbSwitchToOutput(bbPort);
 624             }
 625         } else
 626 #endif
 627         {
 628 #if defined(STM32G4)
 629             // Using circular mode resets the counter one short, so explicitly reload
 630             bbSwitchToOutput(bbPort);
 631 #endif
 632         }
 633
 634         bbDMA_Cmd(bbPort, ENABLE);
 635     }
 636
 637     lastSendUs = micros();
 638     for (int i = 0; i < usedMotorPacers; i++) {
 639         bbPacer_t *bbPacer = &bbPacers[i];
 640         bbTIM_DMACmd(bbPacer->tim, bbPacer->dmaSources, ENABLE);
 641     }
 642 }
 643
 644 static bool bbEnableMotors(void)
 645 {
 646     for (int i = 0; i < motorCount; i++) {
 647         if (bbMotors[i].configured) {
 648             IOConfigGPIO(bbMotors[i].io, bbMotors[i].iocfg);
 649         }
 650     }
 651     return true;
 652 }
 653
 654 static void bbDisableMotors(void)
 655 {
 656     return;
 657 }
 658
 659 static void bbShutdown(void)
 660 {
 661     return;
 662 }
 663
 664 static bool bbIsMotorEnabled(uint8_t index)
 665 {
 666     return bbMotors[index].enabled;
 667 }
 668
 669 static void bbPostInit()
 670 {
 671     bbFindPacerTimer();
 672
 673     for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
 674
 675         if (!bbMotorConfig(bbMotors[motorIndex].io, motorIndex, motorPwmProtocol, bbMotors[motorIndex].output)) {
 676             return NULL;
 677         }
 678
 679
 680         bbMotors[motorIndex].enabled = true;
 681
 682         // Fill in motors structure for 4way access (XXX Should be refactored)
 683
 684         motors[motorIndex].enabled = true;
 685     }
 686 }
 687
 688 static motorVTable_t bbVTable = {
 689     .postInit = bbPostInit,
 690     .enable = bbEnableMotors,
 691     .disable = bbDisableMotors,
 692     .isMotorEnabled = bbIsMotorEnabled,
 693     .updateStart = bbUpdateStart,
 694     .write = bbWrite,
 695     .writeInt = bbWriteInt,
 696     .updateComplete = bbUpdateComplete,
 697     .convertExternalToMotor = dshotConvertFromExternal,
 698     .convertMotorToExternal = dshotConvertToExternal,
 699     .shutdown = bbShutdown,
 700 };
 701
 702 dshotBitbangStatus_e dshotBitbangGetStatus()
 703 {
 704     return bbStatus;
 705 }
 706
 707 motorDevice_t *dshotBitbangDevInit(const motorDevConfig_t *motorConfig, uint8_t count)
 708 {
 709     dbgPinLo(0);
 710     dbgPinLo(1);
 711
 712     motorPwmProtocol = motorConfig->motorPwmProtocol;
 713     bbDevice.vTable = bbVTable;
 714     motorCount = count;
 715     bbStatus = DSHOT_BITBANG_STATUS_OK;
 716
 717 #ifdef USE_DSHOT_TELEMETRY
 718     useDshotTelemetry = motorConfig->useDshotTelemetry;
 719 #endif
 720
 721     memset(bbOutputBuffer, 0, sizeof(bbOutputBuffer));
 722
 723     for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
 724         const unsigned reorderedMotorIndex = motorConfig->motorOutputReordering[motorIndex];
 725         const timerHardware_t *timerHardware = timerGetConfiguredByTag(motorConfig->ioTags[reorderedMotorIndex]);
 726         const IO_t io = IOGetByTag(motorConfig->ioTags[reorderedMotorIndex]);
 727
 728         uint8_t output = motorConfig->motorPwmInversion ?  timerHardware->output ^ TIMER_OUTPUT_INVERTED : timerHardware->output;
 729         bbPuPdMode = (output & TIMER_OUTPUT_INVERTED) ? BB_GPIO_PULLDOWN : BB_GPIO_PULLUP;
 730
 731 #ifdef USE_DSHOT_TELEMETRY
 732         if (useDshotTelemetry) {
 733             output ^= TIMER_OUTPUT_INVERTED;
 734         }
 735 #endif
 736
 737         if (!IOIsFreeOrPreinit(io)) {
 738             /* not enough motors initialised for the mixer or a break in the motors */
 739             bbDevice.vTable.write = motorWriteNull;
 740             bbDevice.vTable.updateStart = motorUpdateStartNull;
 741             bbDevice.vTable.updateComplete = motorUpdateCompleteNull;
 742             bbStatus = DSHOT_BITBANG_STATUS_MOTOR_PIN_CONFLICT;
 743             return NULL;
 744         }
 745
 746         int pinIndex = IO_GPIOPinIdx(io);
 747
 748         bbMotors[motorIndex].pinIndex = pinIndex;
 749         bbMotors[motorIndex].io = io;
 750         bbMotors[motorIndex].output = output;
 751 #if defined(STM32F4) || defined(STM32F3)
 752         bbMotors[motorIndex].iocfg = IO_CONFIG(GPIO_Mode_OUT, GPIO_Speed_50MHz, GPIO_OType_PP, bbPuPdMode);
 753 #elif defined(STM32F7) || defined(STM32G4) || defined(STM32H7)
 754         bbMotors[motorIndex].iocfg = IO_CONFIG(GPIO_MODE_OUTPUT_PP, GPIO_SPEED_FREQ_VERY_HIGH, bbPuPdMode);
 755 #endif
 756
 757         IOInit(io, OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
 758         IOConfigGPIO(io, bbMotors[motorIndex].iocfg);
 759         if (output & TIMER_OUTPUT_INVERTED) {
 760             IOLo(io);
 761         } else {
 762             IOHi(io);
 763         }
 764
 765         // Fill in motors structure for 4way access (XXX Should be refactored)
 766         motors[motorIndex].io = bbMotors[motorIndex].io;
 767     }
 768
 769     return &bbDevice;
 770 }
 771
 772 #endif // USE_DSHOT_BB