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AP_HAL_ChibiOS: correct neopixel bitwidth 

Use 64-bit timestamps for dshot send checks
This commit is contained in:
Andy Piper 2023-11-11 21:54:15 +00:00 committed by Randy Mackay
parent fb62a0e32c
commit 0f495be64a
2 changed files with 6 additions and 3 deletions
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7
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -1002,6 +1002,7 @@ void RCOutput::set_group_mode(pwm_group &group)
case MODE_PROFILED:
{
uint8_t bits_per_pixel = 24;
uint32_t bit_width = NEOP_BIT_WIDTH_TICKS;
bool active_high = true;
if (!start_led_thread()) {
@ -1011,6 +1012,7 @@ void RCOutput::set_group_mode(pwm_group &group)
if (group.current_mode == MODE_PROFILED) {
bits_per_pixel = 25;
bit_width = PROFI_BIT_WIDTH_TICKS;
active_high = false;
}
@ -1025,7 +1027,7 @@ void RCOutput::set_group_mode(pwm_group &group)
// calculate min time between pulses taking into account the DMAR parallelism
const uint32_t pulse_time_us = 1000000UL * bit_length / rate;
if (!setup_group_DMA(group, rate, NEOP_BIT_WIDTH_TICKS, active_high, buffer_length, pulse_time_us, false)) {
if (!setup_group_DMA(group, rate, bit_width, active_high, buffer_length, pulse_time_us, false)) {
group.current_mode = MODE_PWM_NONE;
break;
}
@ -1608,7 +1610,8 @@ bool RCOutput::serial_led_send(pwm_group &group)
}
#ifndef DISABLE_DSHOT
if (irq.waiter || (group.dshot_state != DshotState::IDLE && group.dshot_state != DshotState::RECV_COMPLETE)) {
if (irq.waiter || (group.dshot_state != DshotState::IDLE && group.dshot_state != DshotState::RECV_COMPLETE)
|| AP_HAL::micros64() - group.last_dmar_send_us < (group.dshot_pulse_time_us + 50)) {
// doing serial output or DMAR input, don't send DShot pulses
return false;
}

2
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -405,7 +405,7 @@ private:
#endif
// are we safe to send another pulse?
bool can_send_dshot_pulse() const {
return is_dshot_protocol(current_mode) && AP_HAL::micros() - last_dmar_send_us > (dshot_pulse_time_us + 50);
return is_dshot_protocol(current_mode) && AP_HAL::micros64() - last_dmar_send_us > (dshot_pulse_time_us + 50);
}
// return whether the group channel is both enabled in the group and for output