Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_ChibiOS: enable 32 servo outs

This commit is contained in:
Iampete1 2021-01-12 02:01:48 +00:00 committed by Andrew Tridgell
parent cabdd82e71
commit 7fc691d8d5
3 changed files with 31 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -999,7 +999,7 @@ void RCOutput::set_group_mode(pwm_group &group)
/*
setup output mode
*/
void RCOutput::set_output_mode(uint16_t mask, const enum output_mode mode)
void RCOutput::set_output_mode(uint32_t mask, const enum output_mode mode)
{
for (auto &group : pwm_group_list) {
enum output_mode thismode = mode;
@ -1660,7 +1660,7 @@ void RCOutput::dma_cancel(pwm_group& group)
While serial output is active normal output to the channel group is
suspended.
*/
bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate, uint16_t chanmask)
bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate, uint32_t chanmask)
{
// account for IOMCU channels
chan -= chan_offset;
@ -2122,7 +2122,7 @@ uint32_t RCOutput::protocol_bitrate(const enum output_mode mode)
setup serial led output for a given channel number, with
the given max number of LEDs in the chain.
*/
bool RCOutput::set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode, uint16_t clock_mask)
bool RCOutput::set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode, uint32_t clock_mask)
{
if (!_initialised || num_leds == 0) {
return false;

47
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -19,6 +19,7 @@
#include "AP_HAL_ChibiOS.h"
#include <AP_HAL/Semaphores.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <SRV_Channel/SRV_Channel.h>
#include "shared_dma.h"
#include "ch.h"
@ -67,7 +68,7 @@ public:
return 100.0f * float(_bdshot.erpm_errors[chan]) / (1 + _bdshot.erpm_errors[chan] + _bdshot.erpm_clean_frames[chan]);
}
#endif
void set_output_mode(uint16_t mask, const enum output_mode mode) override;
void set_output_mode(uint32_t mask, const enum output_mode mode) override;
bool get_output_mode_banner(char banner_msg[], uint8_t banner_msg_len) const override;
/*
@ -110,7 +111,7 @@ public:
databits. This is used for ESC configuration and firmware
flashing
*/
bool setup_serial_output(uint16_t chan_mask, ByteBuffer *buffer, uint32_t baudrate);
bool setup_serial_output(uint32_t chan_mask, ByteBuffer *buffer, uint32_t baudrate);
/*
setup for serial output to an ESC using the given
@ -123,7 +124,7 @@ public:
same channel timer group) may also be stopped, depending on the
implementation
*/
bool serial_setup_output(uint8_t chan, uint32_t baudrate, uint16_t motor_mask) override;
bool serial_setup_output(uint8_t chan, uint32_t baudrate, uint32_t motor_mask) override;
/*
write a set of bytes to an ESC, using settings from
@ -149,7 +150,7 @@ public:
with Dshot to get telemetry feedback
The mask uses servo channel numbering
*/
void set_telem_request_mask(uint16_t mask) override { telem_request_mask = (mask >> chan_offset); }
void set_telem_request_mask(uint32_t mask) override { telem_request_mask = (mask >> chan_offset); }
#ifdef HAL_WITH_BIDIR_DSHOT
/*
@ -157,7 +158,7 @@ public:
with Dshot to get telemetry feedback
The mask uses servo channel numbering
*/
void set_bidir_dshot_mask(uint16_t mask) override;
void set_bidir_dshot_mask(uint32_t mask) override;
void set_motor_poles(uint8_t poles) override { _bdshot.motor_poles = poles; }
#endif
@ -189,7 +190,7 @@ public:
/*
set safety mask for IOMCU
*/
void set_safety_mask(uint16_t mask) { safety_mask = mask; }
void set_safety_mask(uint32_t mask) { safety_mask = mask; }
#ifndef DISABLE_DSHOT
/*
@ -197,21 +198,21 @@ public:
* so that output scaling can be performed correctly. The chanmask passed is added (ORed) into any existing mask.
* The mask uses servo channel numbering
*/
void set_reversible_mask(uint16_t chanmask) override;
void set_reversible_mask(uint32_t chanmask) override;
/*
* mark the channels in chanmask as reversed.
* The chanmask passed is added (ORed) into any existing mask.
* The mask uses servo channel numbering
*/
void set_reversed_mask(uint16_t chanmask) override;
uint16_t get_reversed_mask() override { return _reversed_mask << chan_offset; }
void set_reversed_mask(uint32_t chanmask) override;
uint32_t get_reversed_mask() override { return _reversed_mask << chan_offset; }
/*
mark escs as active for the purpose of sending dshot commands
The mask uses servo channel numbering
*/
void set_active_escs_mask(uint16_t chanmask) override { _active_escs_mask |= (chanmask >> chan_offset); }
void set_active_escs_mask(uint32_t chanmask) override { _active_escs_mask |= (chanmask >> chan_offset); }
/*
Send a dshot command, if command timout is 0 then 10 commands are sent
@ -235,7 +236,7 @@ public:
setup serial LED output for a given channel number, with
the given max number of LEDs in the chain.
*/
bool set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode = MODE_PWM_NONE, uint16_t clock_mask = 0) override;
bool set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, output_mode mode = MODE_PWM_NONE, uint32_t clock_mask = 0) override;
/*
setup serial LED output data for a given output channel
@ -309,9 +310,9 @@ private:
enum output_mode current_mode;
uint16_t frequency_hz;
// mask of channels that are able to be enabled
uint16_t ch_mask;
uint32_t ch_mask;
// mask of channels that are enabled and active
uint16_t en_mask;
uint32_t en_mask;
const stm32_dma_stream_t *dma;
Shared_DMA *dma_handle;
uint32_t *dma_buffer;
@ -466,7 +467,11 @@ private:
// number of active fmu channels
uint8_t active_fmu_channels;
#if NUM_SERVO_CHANNELS >= 17
static const uint8_t max_channels = 32;
#else
static const uint8_t max_channels = 16;
#endif
// last sent values are for all channels
uint16_t last_sent[max_channels];
@ -477,7 +482,7 @@ private:
// handling of bi-directional dshot
struct {
uint16_t mask;
uint32_t mask;
uint16_t erpm[max_channels];
#ifdef HAL_WITH_BIDIR_DSHOT
uint16_t erpm_errors[max_channels];
@ -520,14 +525,14 @@ private:
#endif
bool corked;
// mask of channels that are running in high speed
uint16_t fast_channel_mask;
uint16_t io_fast_channel_mask;
uint32_t fast_channel_mask;
uint32_t io_fast_channel_mask;
// mask of channels that are 3D capable
uint16_t _reversible_mask;
uint32_t _reversible_mask;
// mask of channels that should be reversed at startup
uint16_t _reversed_mask;
uint32_t _reversed_mask;
// mask of active ESCs
uint16_t _active_escs_mask;
uint32_t _active_escs_mask;
// min time to trigger next pulse to prevent overlap
uint64_t min_pulse_trigger_us;
@ -573,12 +578,12 @@ private:
uint8_t safety_press_count; // 0.1s units
// mask of channels to allow when safety on
uint16_t safety_mask;
uint32_t safety_mask;
// update safety switch and LED
void safety_update(void);
uint16_t telem_request_mask;
uint32_t telem_request_mask;
/*
Serial lED handling. Max of 32 LEDs uses max 12k of memory per group

4
libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
View File

@ -123,14 +123,14 @@ void RCOutput::send_dshot_command(uint8_t command, uint8_t chan, uint32_t comman
// Set the dshot outputs that should be reversed (as opposed to 3D)
// The chanmask passed is added (ORed) into any existing mask.
// The mask uses servo channel numbering
void RCOutput::set_reversed_mask(uint16_t chanmask) {
void RCOutput::set_reversed_mask(uint32_t chanmask) {
_reversed_mask |= (chanmask >> chan_offset);
}
// Set the dshot outputs that should be reversible/3D
// The chanmask passed is added (ORed) into any existing mask.
// The mask uses servo channel numbering
void RCOutput::set_reversible_mask(uint16_t chanmask) {
void RCOutput::set_reversible_mask(uint32_t chanmask) {
_reversible_mask |= (chanmask >> chan_offset);
}