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HAL_ChibiOS: fixed PWM output

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This commit is contained in:
Andrew Tridgell 2018-01-06 20:42:47 +11:00
parent e88fe93688
commit 26d6947bf6
3 changed files with 6 additions and 13 deletions
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3
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
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@ -113,10 +113,7 @@ static THD_FUNCTION(main_loop,arg)
hal.uartA->begin(115200); hal.uartA->begin(115200);
hal.uartB->begin(38400); hal.uartB->begin(38400);
hal.uartC->begin(57600); hal.uartC->begin(57600);
hal.rcin->init();
hal.rcout->init();
hal.analogin->init(); hal.analogin->init();
hal.gpio->init();
hal.scheduler->init(); hal.scheduler->init();
/* /*

15
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -29,11 +29,12 @@ extern AP_IOMCU iomcu;
#define PWM_CLK_FREQ 8000000 #define PWM_CLK_FREQ 8000000
#define PWM_US_WIDTH_FROM_CLK(x) ((PWM_CLK_FREQ/1000000)*x) #define PWM_US_WIDTH_FROM_CLK(x) ((PWM_CLK_FREQ/1000000)*x)
const struct ChibiRCOutput::pwm_group ChibiRCOutput::pwm_group_list[] = const struct ChibiRCOutput::pwm_group ChibiRCOutput::pwm_group_list[] =
{ {
//Group 1 Config //Group 1 Config
{ //Channels in the Group and respective mapping { //Channels in the Group and respective mapping
{PWM_CHAN_MAP(0) , PWM_CHAN_MAP(1) , PWM_CHAN_MAP(2) , PWM_CHAN_MAP(3)}, {0, 1, 2, 3},
//Group Initial Config //Group Initial Config
{ {
8000000, /* 8MHz PWM clock frequency. */ 8000000, /* 8MHz PWM clock frequency. */
@ -96,7 +97,7 @@ void ChibiRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
} }
for (uint8_t i = 0; i < _num_groups; i++ ) { for (uint8_t i = 0; i < _num_groups; i++ ) {
grp_ch_mask = PWM_CHAN_MAP(0) | PWM_CHAN_MAP(1) | PWM_CHAN_MAP(2) | PWM_CHAN_MAP(3); grp_ch_mask = 0XF;
if ((grp_ch_mask & chmask) == grp_ch_mask) { if ((grp_ch_mask & chmask) == grp_ch_mask) {
update_mask |= grp_ch_mask; update_mask |= grp_ch_mask;
pwmChangePeriod(pwm_group_list[i].pwm_drv, pwmChangePeriod(pwm_group_list[i].pwm_drv,
@ -138,13 +139,7 @@ void ChibiRCOutput::enable_ch(uint8_t chan)
for (uint8_t i = 0; i < _num_groups; i++ ) { for (uint8_t i = 0; i < _num_groups; i++ ) {
for (uint8_t j = 0; j < 4; j++) { for (uint8_t j = 0; j < 4; j++) {
if ((pwm_group_list[i].chan[j] == chan) && !(en_mask & 1<<chan)) { if ((pwm_group_list[i].chan[j] == chan) && !(en_mask & 1<<chan)) {
pwmEnableChannel(pwm_group_list[i].pwm_drv, j, PWM_US_WIDTH_FROM_CLK(900));
en_mask |= 1<<chan; en_mask |= 1<<chan;
if(_output_mode == MODE_PWM_BRUSHED) {
period[chan] = 0;
} else {
period[chan] = 900;
}
} }
} }
} }
@ -197,7 +192,9 @@ void ChibiRCOutput::push_local(void)
if (num_channels == 0) { if (num_channels == 0) {
return; return;
} }
uint16_t outmask = (1U<<(num_channels-1)); uint16_t outmask = (1U<<num_channels)-1;
outmask &= en_mask;
for (uint8_t i = 0; i < _num_groups; i++ ) { for (uint8_t i = 0; i < _num_groups; i++ ) {
for (uint8_t j = 0; j < 4; j++) { for (uint8_t j = 0; j < 4; j++) {
uint8_t chan = pwm_group_list[i].chan[j]; uint8_t chan = pwm_group_list[i].chan[j];

1
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -19,7 +19,6 @@
#include "AP_HAL_ChibiOS.h" #include "AP_HAL_ChibiOS.h"
#include "ch.h" #include "ch.h"
#include "hal.h" #include "hal.h"
#define PWM_CHAN_MAP(n) (1 << n)
class ChibiOS::ChibiRCOutput : public AP_HAL::RCOutput { class ChibiOS::ChibiRCOutput : public AP_HAL::RCOutput {
public: public: