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HAL_ChibiOS: guarantee 1kHz output for DShot

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This commit is contained in:
Andrew Tridgell 2018-04-02 10:39:17 +10:00
parent 3daf27db64
commit 6bdb523630
2 changed files with 12 additions and 10 deletions
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16
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -723,10 +723,16 @@ void RCOutput::trigger_groups(void)
void RCOutput::timer_tick(void) void RCOutput::timer_tick(void)
{ {
uint64_t now = AP_HAL::micros64();
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i]; pwm_group &group = pwm_group_list[i];
if (dshot_delayed_trigger_mask & (1U<<i)) { if (group.current_mode >= MODE_PWM_DSHOT150 &&
// do a blocking send now group.current_mode <= MODE_PWM_DSHOT1200 &&
now - group.last_dshot_send_us > 900) {
// do a blocking send now, to guarantee DShot sends at
// above 1000 Hz. This makes the protocol more reliable on
// long cables, and also keeps some ESCs happy that don't
// like low rates
dshot_send(group, true); dshot_send(group, true);
} }
} }
@ -734,7 +740,6 @@ void RCOutput::timer_tick(void)
min_pulse_trigger_us == 0) { min_pulse_trigger_us == 0) {
return; return;
} }
uint64_t now = AP_HAL::micros64();
if (now > min_pulse_trigger_us && if (now > min_pulse_trigger_us &&
now - min_pulse_trigger_us > 10000) { now - min_pulse_trigger_us > 10000) {
// trigger at a minimum of 100Hz // trigger at a minimum of 100Hz
@ -814,13 +819,10 @@ void RCOutput::dshot_send(pwm_group &group, bool blocking)
return; return;
} }
uint8_t groupidx = &group - pwm_group_list;
if (blocking) { if (blocking) {
group.dma_handle->lock(); group.dma_handle->lock();
dshot_delayed_trigger_mask &= ~(1U<<groupidx);
} else { } else {
if (!group.dma_handle->lock_nonblock()) { if (!group.dma_handle->lock_nonblock()) {
dshot_delayed_trigger_mask |= 1U<<groupidx;
return; return;
} }
} }
@ -841,6 +843,8 @@ void RCOutput::dshot_send(pwm_group &group, bool blocking)
// start sending the pulses out // start sending the pulses out
send_pulses_DMAR(group, dshot_buffer_length); send_pulses_DMAR(group, dshot_buffer_length);
group.last_dshot_send_us = AP_HAL::micros64();
} }
/* /*

6
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -135,6 +135,7 @@ private:
uint32_t bit_width_mul; uint32_t bit_width_mul;
uint32_t rc_frequency; uint32_t rc_frequency;
bool in_serial_dma; bool in_serial_dma;
uint64_t last_dshot_send_us;
// serial output // serial output
struct { struct {
@ -212,9 +213,6 @@ private:
// which output groups need triggering // which output groups need triggering
uint8_t trigger_groupmask; uint8_t trigger_groupmask;
// mask of groups needing retriggering for DShot
uint8_t dshot_delayed_trigger_mask;
// widest pulse for oneshot triggering // widest pulse for oneshot triggering
uint16_t trigger_widest_pulse; uint16_t trigger_widest_pulse;
@ -230,7 +228,7 @@ private:
/* /*
DShot handling DShot handling
*/ */
const uint8_t dshot_post = 2; const uint8_t dshot_post = 6;
const uint16_t dshot_bit_length = 16 + dshot_post; const uint16_t dshot_bit_length = 16 + dshot_post;
const uint16_t dshot_buffer_length = dshot_bit_length*4*sizeof(uint32_t); const uint16_t dshot_buffer_length = dshot_bit_length*4*sizeof(uint32_t);
uint32_t dshot_pulse_time_us; uint32_t dshot_pulse_time_us;