Dshot

Core/Inc/dshot.h

@@ -25,6 +25,7 @@ typedef struct {
     uint32_t channel;
 
     uint16_t buffer[MAX_BUFF_SIZE+2];
+    uint16_t speed;
 } Motor_HandleTypeDef;
 
 /**
@@ -41,29 +42,31 @@ QuadMotor_HandleTypeDef *quad_motors;
  * @brief Initialisation function for the timing and packet
  *          buffer needed for the dshot protocol
  */
-void DSHOT_init(QuadMotor_HandleTypeDef *motors);
+void DSHOT_Init(QuadMotor_HandleTypeDef *motors);
 
 /**
  * @brief Arming sequence for the BHEli_S ESC
  * @note You must continuously send datat to the ESCs after
  *          this function has finished else the motors will
  *          not be armed.
  */
-void DSHOT_arm();
+void DSHOT_Arm();
 
 /**
  * @brief Create a packet of buffer data that prescribes todo
  *          the dshot 300 protocol
  * @param the throttle value to be sent to the ESC
  */
-void DSHOT_create_packet(uint16_t val, uint16_t *buf);
+void DSHOT_Create_Packet(uint16_t val, uint16_t *buf);
 
 /**
  * @brief Read from DMA and create the PWM signal
  * @param motor Motor type def to determine which PWM channel to send data to
  * @param val Throttle value to be sent to the ESC/motor
  * @note val is clamped at THROTTLE_MIN and THROTTLE_MAX
  */
-void DSHOT_command_motor(Motor_HandleTypeDef *motor, uint16_t val);
+void DSHOT_Command_Motor(Motor_HandleTypeDef *motor);
+
+void DSHOT_Command_All_Motors();
 
 #endif

Core/Inc/stm32f4xx_it.h

@@ -58,6 +58,9 @@ void SysTick_Handler(void);
 void DMA1_Stream0_IRQHandler(void);
 void DMA1_Stream2_IRQHandler(void);
 void DMA1_Stream3_IRQHandler(void);
+void DMA1_Stream5_IRQHandler(void);
+void DMA1_Stream6_IRQHandler(void);
+void USART2_IRQHandler(void);
 void DMA1_Stream7_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 

Core/Src/dshot.c

@@ -1,7 +1,7 @@
 #include "dshot.h"
 
 //
-void DSHOT_init(QuadMotor_HandleTypeDef *motors)
+void DSHOT_Init(QuadMotor_HandleTypeDef *motors)
 {
     quad_motors = motors;
 
@@ -25,17 +25,21 @@ void DSHOT_init(QuadMotor_HandleTypeDef *motors)
     motors->motors[3].buffer[17] = 0x00;
 }
 
-void DSHOT_arm()
+void DSHOT_Arm()
 {
     // Creating packet info with throttle field value of 0x00
-    DSHOT_create_packet(0, (uint16_t *)quad_motors->motors[0].buffer);
-    DSHOT_create_packet(0, (uint16_t *)quad_motors->motors[1].buffer);
-    DSHOT_create_packet(0, (uint16_t *)quad_motors->motors[2].buffer);
-    DSHOT_create_packet(0, (uint16_t *)quad_motors->motors[3].buffer);
+    DSHOT_Create_Packet(0, (uint16_t *)quad_motors->motors[0].buffer);
+    DSHOT_Create_Packet(0, (uint16_t *)quad_motors->motors[1].buffer);
+    DSHOT_Create_Packet(0, (uint16_t *)quad_motors->motors[2].buffer);
+    DSHOT_Create_Packet(0, (uint16_t *)quad_motors->motors[3].buffer);
 
     // We will send 0x00 to each ESC for about 3 seconds
     uint32_t millis = HAL_GetTick();
 
+    // HAL_TIM_PWM_Start_DMA(quad_motors->motors[0].tim, quad_motors->motors[0].channel, (uint32_t *)quad_motors->motors[0].buffer, 18);
+    // HAL_TIM_PWM_Start_DMA(quad_motors->motors[1].tim, quad_motors->motors[1].channel, (uint32_t *)quad_motors->motors[1].buffer, 18);
+    // HAL_TIM_PWM_Start_DMA(quad_motors->motors[2].tim, quad_motors->motors[2].channel, (uint32_t *)quad_motors->motors[2].buffer, 18);
+    // HAL_TIM_PWM_Start_DMA(quad_motors->motors[3].tim, quad_motors->motors[3].channel, (uint32_t *)quad_motors->motors[3].buffer, 18);
     while ((HAL_GetTick() - millis) < ARM_TIME)
     {
         // Start the DMA transmission to the PWM periphal
@@ -48,7 +52,7 @@ void DSHOT_arm()
     }
 }
 
-void DSHOT_create_packet(uint16_t val, uint16_t *buf)
+void DSHOT_Create_Packet(uint16_t val, uint16_t *buf)
 {
     // Disable telemetry bit
     val = (val << 1) & 0xfffe;
@@ -71,18 +75,28 @@ void DSHOT_create_packet(uint16_t val, uint16_t *buf)
     }
 }
 
-void DSHOT_command_motor(Motor_HandleTypeDef *motor, uint16_t val)
+void DSHOT_Command_Motor(Motor_HandleTypeDef *motor)
 {
     // Clamp the motor speed
-    if (val < MIN_THROTTLE)
-        val = MIN_THROTTLE;
+    if (motor->speed < MIN_THROTTLE)
+        motor->speed = MIN_THROTTLE;
 
-    if (val > MAX_THROTTLE)
-        val = MAX_THROTTLE;
+    if (motor->speed > MAX_THROTTLE)
+        motor->speed = MAX_THROTTLE;
 
     // Create the packet and begin the tnansmission
-    DSHOT_create_packet(val, (uint16_t *)motor->buffer);
+    DSHOT_Create_Packet(motor->speed, (uint16_t *)motor->buffer);
     HAL_TIM_PWM_Start_DMA(motor->tim, motor->channel, (uint32_t *)motor->buffer, 17);
+    // HAL_TIM_PWM_Stop_DMA(motor->tim, motor->channel);
+}
+
+void DSHOT_Command_All_Motors()
+{
+    for (int i = 0; i < 4; i++)
+    {
+        DSHOT_Command_Motor(&quad_motors->motors[i]);
+        HAL_Delay(1);
+    }
 }
 
 

Core/Src/main.c

@@ -51,6 +51,8 @@ DMA_HandleTypeDef hdma_tim4_ch1;
 DMA_HandleTypeDef hdma_tim4_ch2;
 
 UART_HandleTypeDef huart2;
+DMA_HandleTypeDef hdma_usart2_tx;
+DMA_HandleTypeDef hdma_usart2_rx;
 
 /* USER CODE BEGIN PV */
 
@@ -124,8 +126,8 @@ int main(void)
   /* USER CODE BEGIN 2 */
 
   HAL_Delay(100);
-  DSHOT_init(&quadmotors);
-  DSHOT_arm();
+  DSHOT_Init(&quadmotors);
+  DSHOT_Arm();
   uint16_t speed = MIN_THROTTLE;
   /* USER CODE END 2 */
 
@@ -141,12 +143,13 @@ int main(void)
         for (int j = 0; j < 4; j++)
         {
           if (i == j)
-            DSHOT_command_motor(&(quadmotors.motors[j].tim), speed);
+            quad_motors->motors[j].speed = speed;
           else
-            DSHOT_command_motor(&(quadmotors.motors[j].tim), MIN_THROTTLE);
+            quad_motors->motors[j].speed = MIN_THROTTLE;
+            DSHOT_Command_All_Motors();
         }
         speed += 5;
-        HAL_Delay(5);
+        // HAL_Delay(5);
       }
       speed = MAX_THROTTLE/2;
 
@@ -155,17 +158,19 @@ int main(void)
         for (int j = 0; j < 4; j++)
         {
           if (i == j)
-            DSHOT_command_motor(&(quadmotors.motors[j].tim), speed);
+            // DSHOT_command_motor(&(quadmotors.motors[j]), speed);
+            quad_motors->motors[j].speed = speed;
           else
-            DSHOT_command_motor(&(quadmotors.motors[j].tim), MIN_THROTTLE);
+            quad_motors->motors[j].speed = MIN_THROTTLE;
+          DSHOT_Command_All_Motors();
         }
         speed -= 5;
-        HAL_Delay(5);
+        // HAL_Delay(5);
       }
       speed = MIN_THROTTLE;
     }
-  
-    HAL_Delay(5);
+
+    // HAL_Delay(5);
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
@@ -475,6 +480,12 @@ static void MX_DMA_Init(void)
   /* DMA1_Stream3_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
+  /* DMA1_Stream5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
+  /* DMA1_Stream6_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn);
   /* DMA1_Stream7_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn);

Core/Src/stm32f4xx_hal_msp.c

@@ -31,6 +31,10 @@ extern DMA_HandleTypeDef hdma_tim4_ch1;
 
 extern DMA_HandleTypeDef hdma_tim4_ch2;
 
+extern DMA_HandleTypeDef hdma_usart2_tx;
+
+extern DMA_HandleTypeDef hdma_usart2_rx;
+
 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN TD */
 
@@ -191,7 +195,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
     hdma_tim3_ch4_up.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
     hdma_tim3_ch4_up.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
     hdma_tim3_ch4_up.Init.Mode = DMA_NORMAL;
-    hdma_tim3_ch4_up.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_tim3_ch4_up.Init.Priority = DMA_PRIORITY_HIGH;
     hdma_tim3_ch4_up.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_tim3_ch4_up) != HAL_OK)
     {
@@ -212,7 +216,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
     hdma_tim3_ch3.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
     hdma_tim3_ch3.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
     hdma_tim3_ch3.Init.Mode = DMA_NORMAL;
-    hdma_tim3_ch3.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_tim3_ch3.Init.Priority = DMA_PRIORITY_HIGH;
     hdma_tim3_ch3.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_tim3_ch3) != HAL_OK)
     {
@@ -243,7 +247,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
     hdma_tim4_ch1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
     hdma_tim4_ch1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
     hdma_tim4_ch1.Init.Mode = DMA_NORMAL;
-    hdma_tim4_ch1.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_tim4_ch1.Init.Priority = DMA_PRIORITY_HIGH;
     hdma_tim4_ch1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_tim4_ch1) != HAL_OK)
     {
@@ -261,7 +265,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
     hdma_tim4_ch2.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
     hdma_tim4_ch2.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
     hdma_tim4_ch2.Init.Mode = DMA_NORMAL;
-    hdma_tim4_ch2.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_tim4_ch2.Init.Priority = DMA_PRIORITY_HIGH;
     hdma_tim4_ch2.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_tim4_ch2) != HAL_OK)
     {
@@ -407,6 +411,46 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* USART2 DMA Init */
+    /* USART2_TX Init */
+    hdma_usart2_tx.Instance = DMA1_Stream6;
+    hdma_usart2_tx.Init.Channel = DMA_CHANNEL_4;
+    hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart2_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart2_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart2_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmatx,hdma_usart2_tx);
+
+    /* USART2_RX Init */
+    hdma_usart2_rx.Instance = DMA1_Stream5;
+    hdma_usart2_rx.Init.Channel = DMA_CHANNEL_4;
+    hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart2_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart2_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart2_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmarx,hdma_usart2_rx);
+
+    /* USART2 interrupt Init */
+    HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART2_IRQn);
   /* USER CODE BEGIN USART2_MspInit 1 */
 
   /* USER CODE END USART2_MspInit 1 */
@@ -436,6 +480,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
     */
     HAL_GPIO_DeInit(GPIOA, USART_TX_Pin|USART_RX_Pin);
 
+    /* USART2 DMA DeInit */
+    HAL_DMA_DeInit(huart->hdmatx);
+    HAL_DMA_DeInit(huart->hdmarx);
+
+    /* USART2 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(USART2_IRQn);
   /* USER CODE BEGIN USART2_MspDeInit 1 */
 
   /* USER CODE END USART2_MspDeInit 1 */

Core/Src/stm32f4xx_it.c

@@ -59,6 +59,9 @@ extern DMA_HandleTypeDef hdma_tim3_ch4_up;
 extern DMA_HandleTypeDef hdma_tim3_ch3;
 extern DMA_HandleTypeDef hdma_tim4_ch1;
 extern DMA_HandleTypeDef hdma_tim4_ch2;
+extern DMA_HandleTypeDef hdma_usart2_tx;
+extern DMA_HandleTypeDef hdma_usart2_rx;
+extern UART_HandleTypeDef huart2;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -243,6 +246,48 @@ void DMA1_Stream3_IRQHandler(void)
   /* USER CODE END DMA1_Stream3_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 stream5 global interrupt.
+  */
+void DMA1_Stream5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart2_rx);
+  /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream5_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 stream6 global interrupt.
+  */
+void DMA1_Stream6_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream6_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart2_tx);
+  /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream6_IRQn 1 */
+}
+
+/**
+  * @brief This function handles USART2 global interrupt.
+  */
+void USART2_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART2_IRQn 0 */
+
+  /* USER CODE END USART2_IRQn 0 */
+  HAL_UART_IRQHandler(&huart2);
+  /* USER CODE BEGIN USART2_IRQn 1 */
+
+  /* USER CODE END USART2_IRQn 1 */
+}
+
 /**
   * @brief This function handles DMA1 stream7 global interrupt.
   */

Makefile

@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Wed Feb 01 07:33:00 EST 2023] 
+# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Sat Feb 25 13:31:02 EST 2023] 
 ##########################################################################################################################
 
 # ------------------------------------------------