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AP_HAL_ChibiOS: explicitly set dshot rate when using iomcu

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This commit is contained in:
Andy Piper 2023-08-14 08:44:08 +01:00 committed by Andrew Tridgell
parent c4cfc5dbe4
commit 75c1ad6efa
2 changed files with 13 additions and 7 deletions
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18
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -513,16 +513,15 @@ void RCOutput::set_default_rate(uint16_t freq_hz)
*/
void RCOutput::set_dshot_rate(uint8_t dshot_rate, uint16_t loop_rate_hz)
{
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_dshot()) {
iomcu.set_dshot_period(1000UL, 0);
}
#endif
// for low loop rates simply output at 1Khz on a timer
if (loop_rate_hz <= 100 || dshot_rate == 0) {
_dshot_period_us = 1000UL;
_dshot_rate = 0;
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_dshot()) {
iomcu.set_dshot_period(1000UL, 0);
}
#endif
return;
}
// if there are non-dshot channels then do likewise
@ -532,6 +531,13 @@ void RCOutput::set_dshot_rate(uint8_t dshot_rate, uint16_t loop_rate_hz)
group.current_mode == MODE_PWM_BRUSHED) {
_dshot_period_us = 1000UL;
_dshot_rate = 0;
#if HAL_WITH_IO_MCU
// this is not strictly neccessary since the iomcu could run at a different rate,
// but there is only one parameter to control this
if (AP_BoardConfig::io_dshot()) {
iomcu.set_dshot_period(1000UL, 0);
}
#endif
return;
}
}

2
libraries/AP_HAL_ChibiOS/hwdef/iomcu-dshot/hwdef.inc
View File

@ -16,7 +16,7 @@ undef AP_HAL_SHARED_DMA_ENABLED
define STM32_TIM_TIM2_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
define STM32_TIM_TIM2_UP_DMA_CHAN 1
# TIM4_UP (PWM 3/4) cannot be used with sharin as channels used by high speed USART2 RX/TX
# TIM4_UP (PWM 3/4) cannot be used with sharing as channels used by high speed USART2 RX/TX
define AP_HAL_SHARED_DMA_ENABLED 1
define STM32_TIM_TIM4_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
define STM32_TIM_TIM4_UP_DMA_CHAN 1