fix(motors): move DMA claim before DeInit/register touch

Local CodeRabbit review flagged: LL_EX_DMA_DeInit()/DMA_DeInit()
(resets the DMA stream's registers) ran before the dmaAllocate()
check in the OWNER_MOTOR path, and pwm_output_dshot.c had the same
ordering issue in the OWNER_TIMUP burst path too. A failed claim on
a stream already held by an unrelated owner would deinit it out from
under that owner instead of leaving it untouched.

Moved both claim checks (dshotDmaClaim() for OWNER_TIMUP,
dmaAllocate() for OWNER_MOTOR) to before any DMA register access in
both files, matching the ordering already established for LED strip
and transponder.

Author: nerdCopter

src/main/drivers/pwm_output_dshot.c

@@ -208,10 +208,18 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     motor->timer = &dmaMotorTimers[timerIndex];
 #ifdef USE_DSHOT_DMAR
     if (useBurstDshot) {
+        if (!dshotDmaClaim(timerHardware->dmaTimUPIrqHandler, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim))) {
+            return;
+        }
+        dmaEnable(timerHardware->dmaTimUPIrqHandler);
         motor->timer->dmaBurstRef = dmaRef;
     } else
 #endif
     {
+        if (!dmaAllocate(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex))) {
+            return;
+        }
+        dmaEnable(timerHardware->dmaIrqHandler);
         motor->timerDmaSource = timerDmaSource(timerHardware->channel);
         motor->timer->timerDmaSources &= ~motor->timerDmaSource;
     }
@@ -220,10 +228,6 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     DMA_StructInit(&DMA_InitStructure);
 #ifdef USE_DSHOT_DMAR
     if (useBurstDshot) {
-        if (!dshotDmaClaim(timerHardware->dmaTimUPIrqHandler, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim))) {
-            return;
-        }
-        dmaEnable(timerHardware->dmaTimUPIrqHandler);
         dmaSetHandler(timerHardware->dmaTimUPIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
         DMA_InitStructure.DMA_Channel = timerHardware->dmaTimUPChannel;
         DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)motor->timer->dmaBurstBuffer;
@@ -243,10 +247,6 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     } else
 #endif
     {
-        if (!dmaAllocate(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex))) {
-            return;
-        }
-        dmaEnable(timerHardware->dmaIrqHandler);
         dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
 #if defined(STM32F4)
         DMA_InitStructure.DMA_Channel = timerHardware->dmaChannel;

src/main/drivers/pwm_output_dshot_hal.c

@@ -234,6 +234,10 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     } else
 #endif
     {
+        if (!dmaAllocate(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex))) {
+            return;
+        }
+        dmaEnable(timerHardware->dmaIrqHandler);
         motor->timerDmaSource = timerDmaSource(timerHardware->channel);
         motor->timer->timerDmaSources &= ~motor->timerDmaSource;
     }
@@ -253,10 +257,6 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
     } else
 #endif
     {
-        if (!dmaAllocate(timerHardware->dmaIrqHandler, OWNER_MOTOR, RESOURCE_INDEX(motorIndex))) {
-            return;
-        }
-        dmaEnable(timerHardware->dmaIrqHandler);
         dmaSetHandler(timerHardware->dmaIrqHandler, motor_DMA_IRQHandler, NVIC_BUILD_PRIORITY(1, 2), motorIndex);
 #if defined(STM32H7)
         dma_init.PeriphRequest = timerHardware->dmaChannel;