DMA1_Stream6

[SriramKodey]

Hi all,
I noticed that in motors.c DMA1_Stream6_IRQHandler is used to start TIM2_CH2. I want to use DAC with DMA on the crazyflie and the DAC_Channel2 is configured to DMA1_Stream6_CH7. I want to use a different implementation of DMA1_Stream6_IRQHandler. Do you have any suggestions on how I can do this?

Thanks!!

[evoggy]

Hi,

From what I can see this is only used if DSHOT is configured (i.e CONFIG_MOTORS_ESC_PROTOCOL_DSHOT is defined) which would only be the case on the Crazyflie Bolt or Brushless (i.e using brushless motors). Is this the case? If not the conflict will be on UART2 if DMA is used, which you will need to handle.

[SriramKodey]

Yes, I do have the conflict with uart2 DMA, I added another #ifndef conditional statement in the uart2 file and added a define in the stm32fxxx.h to force my definition of the DMA1_Stream6_IRQHandler to be invoked. I still don't see the desired DAC Output on the PA5 pin, not sure if my IRQHandler is the issue. I also wanted to know how I can add configs like CONFIG_MOTORS_ESC_PROTOCOL_DSHOT.

[evoggy]

There's some examples here on how to modify the configuration to add options. Note that you do not have to add a new platform, it's just to show how to edit the files.