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HAL_ChibiOS: fixed RC period setting

This commit is contained in:
Andrew Tridgell 2018-03-27 08:11:10 +11:00
parent 9ba3992d9e
commit 019049e76b
1 changed files with 13 additions and 8 deletions
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21
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -110,15 +110,16 @@ void RCOutput::set_freq_group(pwm_group &group)
psc = (pwmp->clock / pwmp->config->frequency) - 1;
}
group.pwm_cfg.period = group.pwm_cfg.frequency/freq_set;
bool force_reconfig = false;
for (uint8_t j=0; j<4; j++) {
if (group.pwm_cfg.channels[j].mode != PWM_OUTPUT_DISABLED &&
group.pwm_cfg.channels[j].mode == PWM_OUTPUT_ACTIVE_LOW) {
if (group.pwm_cfg.channels[j].mode == PWM_OUTPUT_ACTIVE_LOW) {
group.pwm_cfg.channels[j].mode = PWM_OUTPUT_ACTIVE_HIGH;
force_reconfig = true;
}
}
if (old_clock != group.pwm_cfg.frequency || !group.pwm_started || force_reconfig) {
// we need to stop and start to setup the new clock
if (group.pwm_started) {
@ -127,8 +128,7 @@ void RCOutput::set_freq_group(pwm_group &group)
pwmStart(group.pwm_drv, &group.pwm_cfg);
group.pwm_started = true;
}
pwmChangePeriod(group.pwm_drv,
group.pwm_cfg.frequency/freq_set);
pwmChangePeriod(group.pwm_drv, group.pwm_cfg.period);
}
/*
@ -197,8 +197,10 @@ void RCOutput::set_default_rate(uint16_t freq_hz)
// don't change fast channels
continue;
}
pwmChangePeriod(group.pwm_drv,
group.pwm_cfg.frequency/freq_hz);
group.pwm_cfg.period = group.pwm_cfg.frequency/freq_hz;
if (group.pwm_started) {
pwmChangePeriod(group.pwm_drv, group.pwm_cfg.period);
}
}
}
@ -544,7 +546,10 @@ void RCOutput::set_group_mode(pwm_group &group)
case MODE_PWM_ONESHOT:
// for oneshot we force 1Hz output and then trigger on each loop
pwmChangePeriod(group.pwm_drv, group.pwm_cfg.frequency);
group.pwm_cfg.period = group.pwm_cfg.frequency;
if (group.pwm_started) {
pwmChangePeriod(group.pwm_drv, group.pwm_cfg.period);
}
break;
case MODE_PWM_NORMAL: