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HAL_ChibiOS: fixed output string for non-DMA capable chan

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this fixes a problem where the user requests DShot (which rquired DMA)
on an output channel which cannot allocate a DMA channel. We end up
sending normal PWM, so the string representation of the output modes
should reflect that
This commit is contained in:
Andrew Tridgell 2020-02-08 14:35:42 +11:00
parent 7114402d27
commit 126c6e589b
2 changed files with 8 additions and 7 deletions
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13
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -648,7 +648,7 @@ void RCOutput::set_group_mode(pwm_group &group)
// configure timer driver for DMAR at requested rate
if (!setup_group_DMA(group, rate, bit_period, true, dshot_buffer_length, false)) {
group.current_mode = MODE_PWM_NONE;
group.current_mode = MODE_PWM_NORMAL;
break;
}
@ -690,22 +690,23 @@ void RCOutput::set_group_mode(pwm_group &group)
/*
setup output mode
*/
void RCOutput::set_output_mode(uint16_t mask, enum output_mode mode)
void RCOutput::set_output_mode(uint16_t mask, const enum output_mode mode)
{
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i];
enum output_mode thismode = mode;
if (((group.ch_mask << chan_offset) & mask) == 0) {
// this group is not affected
continue;
}
if (mode_requires_dma(mode) && !group.have_up_dma) {
mode = MODE_PWM_NONE;
if (mode_requires_dma(thismode) && !group.have_up_dma) {
thismode = MODE_PWM_NORMAL;
}
if (mode > MODE_PWM_NORMAL) {
fast_channel_mask |= group.ch_mask;
}
if (group.current_mode != mode) {
group.current_mode = mode;
if (group.current_mode != thismode) {
group.current_mode = thismode;
set_group_mode(group);
}
}

2
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -48,7 +48,7 @@ public:
max_pwm = _esc_pwm_max;
return true;
}
void set_output_mode(uint16_t mask, enum output_mode mode) override;
void set_output_mode(uint16_t mask, const enum output_mode mode) override;
bool get_output_mode_banner(char banner_msg[], uint8_t banner_msg_len) const override;
float scale_esc_to_unity(uint16_t pwm) override {