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AP_HAL_ChibiOS: correct locking on LED thread

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This commit is contained in:
Andy Piper 2023-05-16 20:09:52 +01:00 committed by Andrew Tridgell
parent b2be3c1dbc
commit 0553d06c14
1 changed files with 7 additions and 4 deletions
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11
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -288,7 +288,7 @@ void RCOutput::dshot_collect_dma_locks(uint64_t time_out_us, bool led_thread)
for (int8_t i = NUM_GROUPS - 1; i >= 0; i--) { for (int8_t i = NUM_GROUPS - 1; i >= 0; i--) {
pwm_group &group = pwm_group_list[i]; pwm_group &group = pwm_group_list[i];
if ((led_thread && !is_led_protocol(group.current_mode)) || is_led_protocol(group.current_mode)) { if (led_thread != is_led_protocol(group.current_mode)) {
continue; continue;
} }
@ -1313,7 +1313,7 @@ void RCOutput::led_timer_tick(uint64_t time_out_us)
} }
// if we have enough time left send out LED data // if we have enough time left send out LED data
if (serial_led_pending && (time_out_us > (AP_HAL::micros64() + (LED_OUTPUT_PERIOD_US >> 1)))) { if (serial_led_pending) {
serial_led_pending = false; serial_led_pending = false;
for (auto &group : pwm_group_list) { for (auto &group : pwm_group_list) {
serial_led_pending |= !serial_led_send(group); serial_led_pending |= !serial_led_send(group);
@ -1608,11 +1608,14 @@ bool RCOutput::serial_led_send(pwm_group &group)
} }
#ifndef DISABLE_DSHOT #ifndef DISABLE_DSHOT
if (irq.waiter || !group.dma_handle->lock_nonblock()) { if (irq.waiter || (group.dshot_state != DshotState::IDLE && group.dshot_state != DshotState::RECV_COMPLETE)) {
// doing serial output, don't send Serial LED pulses // doing serial output or DMAR input, don't send DShot pulses
return false; return false;
} }
// first make sure we have the DMA channel before anything else
group.dma_handle->lock();
{ {
WITH_SEMAPHORE(group.serial_led_mutex); WITH_SEMAPHORE(group.serial_led_mutex);