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https://github.com/ArduPilot/ardupilot
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AP_HAL_ChibiOS: allow forcing of trigger_groups()
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parent
76897e9674
commit
048a3af785
libraries/AP_HAL_ChibiOS
@ -1398,7 +1398,8 @@ void RCOutput::trigger_groups()
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osalSysUnlock();
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#if !defined(HAL_NO_RCOUT_THREAD) || HAL_DSHOT_ENABLED
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// trigger a PWM send
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if (!in_soft_serial() && hal.scheduler->in_main_thread() && rcout_thread_ctx) {
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if (!in_soft_serial() &&
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(hal.scheduler->in_main_thread() || force_trigger) && rcout_thread_ctx) {
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chEvtSignal(rcout_thread_ctx, EVT_PWM_SEND);
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}
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#endif
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@ -285,6 +285,11 @@ public:
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*/
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void rcout_thread();
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/*
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Force group trigger from all callers rather than just from the main thread
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*/
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void force_trigger_groups(bool onoff) override { force_trigger = onoff; }
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/*
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timer information
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*/
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@ -579,6 +584,8 @@ private:
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uint8_t _dshot_cycle;
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// virtual timer for post-push() pulses
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virtual_timer_t _dshot_rate_timer;
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// force triggering of groups
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bool force_trigger;
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#if HAL_DSHOT_ENABLED
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// dshot commands
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