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AP_IOMCU: reset erpm to zero on timeout 

remove unneeded packed attribute
reset the PWM status after channels have been enabled or disabled
This commit is contained in:
Andy Piper 2023-10-23 14:36:02 +01:00 committed by Andrew Tridgell
parent a5b6c3b5ef
commit 153c5181cb
3 changed files with 15 additions and 5 deletions
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11
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -622,8 +622,13 @@ void AP_IOMCU_FW::rcin_update()
#ifdef HAL_WITH_BIDIR_DSHOT
void AP_IOMCU_FW::erpm_update()
{
uint32_t now_us = AP_HAL::micros();
if (hal.rcout->new_erpm()) {
dshot_erpm.update_mask |= hal.rcout->read_erpm(dshot_erpm.erpm, IOMCU_MAX_CHANNELS);
last_erpm_us = now_us;
} else if (now_us - last_erpm_us > ESC_RPM_DATA_TIMEOUT_US) {
dshot_erpm.update_mask = 0;
}
}
@ -640,7 +645,7 @@ void AP_IOMCU_FW::telem_update()
dshot_telem[i].error_rate[j] = uint16_t(roundf(hal.rcout->get_erpm_error_rate(esc_id) * 100.0));
#if HAL_WITH_ESC_TELEM
const volatile AP_ESC_Telem_Backend::TelemetryData& telem = esc_telem.get_telem_data(esc_id);
// if data is stale the set to zero to avoidn phantom data appearing in mavlink
// if data is stale then set to zero to avoid phantom data appearing in mavlink
if (now_ms - telem.last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS) {
dshot_telem[i].voltage_cvolts[j] = 0;
dshot_telem[i].current_camps[j] = 0;
@ -1146,6 +1151,10 @@ void AP_IOMCU_FW::rcout_config_update(void)
}
}
last_channel_mask = reg_setup.channel_mask;
// channel enablement will affect the reported output mode
uint32_t output_mask = 0;
reg_status.rcout_mode = hal.rcout->get_output_mode(output_mask);
reg_status.rcout_mask = uint8_t(0xFF & output_mask);
}
// see if there is anything to do, we only support setting the mode for a particular channel once

1
libraries/AP_IOMCU/iofirmware/iofirmware.h
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@ -140,6 +140,7 @@ public:
#endif
#ifdef HAL_WITH_BIDIR_DSHOT
struct page_dshot_erpm dshot_erpm;
uint32_t last_erpm_us;
struct page_dshot_telem dshot_telem[IOMCU_MAX_CHANNELS/4];
uint32_t last_telem_ms;
#if HAL_WITH_ESC_TELEM

8
libraries/AP_IOMCU/iofirmware/ioprotocol.h
View File

@ -189,14 +189,14 @@ struct __attribute__((packed, aligned(2))) page_GPIO {
uint8_t output_mask;
};
struct __attribute__((packed, aligned(2))) page_mode_out {
struct page_mode_out {
uint16_t mask;
uint16_t mode;
uint16_t bdmask;
uint16_t esc_type;
};
struct __attribute__((packed, aligned(2))) page_dshot {
struct page_dshot {
uint16_t telem_mask;
uint8_t command;
uint8_t chan;
@ -205,13 +205,13 @@ struct __attribute__((packed, aligned(2))) page_dshot {
uint8_t priority;
};
struct __attribute__((packed, aligned(2))) page_dshot_erpm {
struct page_dshot_erpm {
uint16_t erpm[IOMCU_MAX_CHANNELS];
uint32_t update_mask;
};
// separate telemetry packet because (a) it's too big otherwise and (b) slower update rate
struct __attribute__((packed, aligned(2))) page_dshot_telem {
struct page_dshot_telem {
uint16_t error_rate[4]; // as a centi-percentage
uint16_t voltage_cvolts[4];
uint16_t current_camps[4];