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AP_HAL: support accessors for dshot_period_us

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add support for selectively disabling serial LEDs and passthrough
provide mutator to allow iomcu to set dshot rate
support HAL_SERIAL_ESC_COMM_ENABLED and DISABLE_SERIAL_ESC_COMM
update dshot docs
make default serial led enablement dependent on dshot
This commit is contained in:
Andy Piper 2023-05-24 21:41:56 +01:00 committed by Andrew Tridgell
parent eacc29e81e
commit 1b210f8ea9
2 changed files with 23 additions and 5 deletions
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20
libraries/AP_HAL/AP_HAL_Boards.h
View File

@ -283,6 +283,22 @@
#define HAL_DSHOT_ALARM_ENABLED 0 #define HAL_DSHOT_ALARM_ENABLED 0
#endif #endif
#ifndef HAL_DSHOT_ENABLED
#define HAL_DSHOT_ENABLED 1
#endif
#ifndef HAL_SERIALLED_ENABLED
#define HAL_SERIALLED_ENABLED HAL_DSHOT_ENABLED
#endif
#ifndef HAL_SERIAL_ESC_COMM_ENABLED
#ifdef DISABLE_SERIAL_ESC_COMM
#define HAL_SERIAL_ESC_COMM_ENABLED 0
#else
#define HAL_SERIAL_ESC_COMM_ENABLED 1
#endif
#endif
#ifndef HAL_HNF_MAX_FILTERS #ifndef HAL_HNF_MAX_FILTERS
// On an F7 The difference in CPU load between 1 notch and 24 notches is about 2% // On an F7 The difference in CPU load between 1 notch and 24 notches is about 2%
// The difference in CPU load between 1Khz backend and 2Khz backend is about 10% // The difference in CPU load between 1Khz backend and 2Khz backend is about 10%
@ -316,10 +332,6 @@
#define HAL_USE_OCTOSPI 0 #define HAL_USE_OCTOSPI 0
#endif #endif
#ifndef HAL_ENABLE_DSHOT
#define HAL_ENABLE_DSHOT 1
#endif
#ifndef __RAMFUNC__ #ifndef __RAMFUNC__
#define __RAMFUNC__ #define __RAMFUNC__
#endif #endif

8
libraries/AP_HAL/RCOutput.h
View File

@ -311,6 +311,12 @@ public:
*/ */
virtual void set_dshot_rate(uint8_t dshot_rate, uint16_t loop_rate_hz) {} virtual void set_dshot_rate(uint8_t dshot_rate, uint16_t loop_rate_hz) {}
/*
Set the dshot period in us, only for use by the IOMCU
*/
virtual void set_dshot_period(uint32_t period_us, uint8_t dshot_rate) {}
virtual uint32_t get_dshot_period_us() const { return 0; }
/* /*
Set the dshot ESC type Set the dshot ESC type
*/ */
@ -372,7 +378,7 @@ public:
* Options are (ticks, percentage): * Options are (ticks, percentage):
* 20/7/14, 35/70 * 20/7/14, 35/70
* 11/4/8, 36/72 * 11/4/8, 36/72
* 8/3/6, 37/75 * 8/3/6, 37/75 <-- this is the preferred duty cycle and has some support on the interwebs
*/ */
// bitwidths: 8/3/6 == 37%/75% // bitwidths: 8/3/6 == 37%/75%
static constexpr uint32_t DSHOT_BIT_WIDTH_TICKS_DEFAULT = 8; static constexpr uint32_t DSHOT_BIT_WIDTH_TICKS_DEFAULT = 8;