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HAL_ChibiOS: fixed mixture of oneshot and normal PWM on IOMCU

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This commit is contained in:
Andrew Tridgell 2018-05-11 16:30:18 +10:00
parent 219d429929
commit 794ebe32e3
2 changed files with 6 additions and 2 deletions
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7
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -169,6 +169,9 @@ void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
// change frequency on IOMCU
if (freq_hz > 50) {
io_fast_channel_mask = chmask;
}
iomcu.set_freq(chmask, freq_hz);
}
#endif
@ -307,7 +310,7 @@ void RCOutput::write(uint8_t chan, uint16_t period_us)
// handle IO MCU channels
if (AP_BoardConfig::io_enabled()) {
uint16_t io_period_us = period_us;
if (iomcu_oneshot125) {
if (iomcu_oneshot125 && ((1U<<chan) & io_fast_channel_mask)) {
// the iomcu only has one oneshot setting, so we need to scale by a factor
// of 8 here for oneshot125
io_period_us /= 8;
@ -657,7 +660,7 @@ void RCOutput::set_output_mode(uint16_t mask, enum output_mode mode)
iomcu_oneshot125 = (mode == MODE_PWM_ONESHOT125);
// also setup IO to use a 1Hz frequency, so we only get output
// when we trigger
iomcu.set_freq(0xFF, 1);
iomcu.set_freq(io_fast_channel_mask, 1);
return iomcu.set_oneshot_mode();
}
#endif

1
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -228,6 +228,7 @@ private:
bool corked;
// mask of channels that are running in high speed
uint16_t fast_channel_mask;
uint16_t io_fast_channel_mask;
// min time to trigger next pulse to prevent overlap
uint64_t min_pulse_trigger_us;