modalai fc-v1: add dshot support

5 years ago · 1d44231cd4
3 changed files with 10 additions and 0 deletions
--- a/boards/modalai/fc-v1/default.cmake
+++ b/boards/modalai/fc-v1/default.cmake
@ -24,6 +24,7 @@ px4_add_board(
				@@ -24,6 +24,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		dshot
 		gps
 		imu/bmi088
 # TODO		imu/icm42688
--- a/boards/modalai/fc-v1/src/board_config.h
+++ b/boards/modalai/fc-v1/src/board_config.h
@ -480,6 +480,8 @@
				@@ -480,6 +480,8 @@

 #define BOARD_NUM_IO_TIMERS 5

+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
+
 __BEGIN_DECLS

 /****************************************************************************************************
--- a/boards/modalai/fc-v1/src/timer_config.c
+++ b/boards/modalai/fc-v1/src/timer_config.c
@ -75,6 +75,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
				@@ -75,6 +75,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 3,
 		.handler = io_timer_handler0,
 		.vectorno =  STM32_IRQ_TIM1CC,
+		.dshot = {
+			.dma_base = DSHOT_DMA2_BASE,
+			.channel = DShot_Channel6,
+			.stream = DShot_Stream5,
+			.start_ccr_register = TIM_DMABASE_CCR1,
+			.channels_number = 4u /* CCR1, CCR2, CCR3 and CCR4 */
+		}
 	},
 	{
 		.base = STM32_TIM4_BASE,