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AP_HAL_ChibiOS: enable 32 servo outs

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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
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6
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -999,7 +999,7 @@ void RCOutput::set_group_mode(pwm_group &group)
/* /*
setup output mode 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) { for (auto &group : pwm_group_list) {
enum output_mode thismode = mode; 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 While serial output is active normal output to the channel group is
suspended. 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 // account for IOMCU channels
chan -= chan_offset; 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 setup serial led output for a given channel number, with
the given max number of LEDs in the chain. 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) { if (!_initialised || num_leds == 0) {
return false; return false;

47
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -19,6 +19,7 @@
#include "AP_HAL_ChibiOS.h" #include "AP_HAL_ChibiOS.h"
#include <AP_HAL/Semaphores.h> #include <AP_HAL/Semaphores.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h> #include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <SRV_Channel/SRV_Channel.h>
#include "shared_dma.h" #include "shared_dma.h"
#include "ch.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]); return 100.0f * float(_bdshot.erpm_errors[chan]) / (1 + _bdshot.erpm_errors[chan] + _bdshot.erpm_clean_frames[chan]);
} }
#endif #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; 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 databits. This is used for ESC configuration and firmware
flashing 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 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 same channel timer group) may also be stopped, depending on the
implementation 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 write a set of bytes to an ESC, using settings from
@ -149,7 +150,7 @@ public:
with Dshot to get telemetry feedback with Dshot to get telemetry feedback
The mask uses servo channel numbering 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 #ifdef HAL_WITH_BIDIR_DSHOT
/* /*
@ -157,7 +158,7 @@ public:
with Dshot to get telemetry feedback with Dshot to get telemetry feedback
The mask uses servo channel numbering 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; } void set_motor_poles(uint8_t poles) override { _bdshot.motor_poles = poles; }
#endif #endif
@ -189,7 +190,7 @@ public:
/* /*
set safety mask for IOMCU 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 #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. * so that output scaling can be performed correctly. The chanmask passed is added (ORed) into any existing mask.
* The mask uses servo channel numbering * 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. * mark the channels in chanmask as reversed.
* The chanmask passed is added (ORed) into any existing mask. * The chanmask passed is added (ORed) into any existing mask.
* The mask uses servo channel numbering * The mask uses servo channel numbering
*/ */
void set_reversed_mask(uint16_t chanmask) override; void set_reversed_mask(uint32_t chanmask) override;
uint16_t get_reversed_mask() override { return _reversed_mask << chan_offset; } uint32_t get_reversed_mask() override { return _reversed_mask << chan_offset; }
/* /*
mark escs as active for the purpose of sending dshot commands mark escs as active for the purpose of sending dshot commands
The mask uses servo channel numbering 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 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 setup serial LED output for a given channel number, with
the given max number of LEDs in the chain. 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 setup serial LED output data for a given output channel
@ -309,9 +310,9 @@ private:
enum output_mode current_mode; enum output_mode current_mode;
uint16_t frequency_hz; uint16_t frequency_hz;
// mask of channels that are able to be enabled // 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 // mask of channels that are enabled and active
uint16_t en_mask; uint32_t en_mask;
const stm32_dma_stream_t *dma; const stm32_dma_stream_t *dma;
Shared_DMA *dma_handle; Shared_DMA *dma_handle;
uint32_t *dma_buffer; uint32_t *dma_buffer;
@ -466,7 +467,11 @@ private:
// number of active fmu channels // number of active fmu channels
uint8_t 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; static const uint8_t max_channels = 16;
#endif
// last sent values are for all channels // last sent values are for all channels
uint16_t last_sent[max_channels]; uint16_t last_sent[max_channels];
@ -477,7 +482,7 @@ private:
// handling of bi-directional dshot // handling of bi-directional dshot
struct { struct {
uint16_t mask; uint32_t mask;
uint16_t erpm[max_channels]; uint16_t erpm[max_channels];
#ifdef HAL_WITH_BIDIR_DSHOT #ifdef HAL_WITH_BIDIR_DSHOT
uint16_t erpm_errors[max_channels]; uint16_t erpm_errors[max_channels];
@ -520,14 +525,14 @@ private:
#endif #endif
bool corked; bool corked;
// mask of channels that are running in high speed // mask of channels that are running in high speed
uint16_t fast_channel_mask; uint32_t fast_channel_mask;
uint16_t io_fast_channel_mask; uint32_t io_fast_channel_mask;
// mask of channels that are 3D capable // mask of channels that are 3D capable
uint16_t _reversible_mask; uint32_t _reversible_mask;
// mask of channels that should be reversed at startup // mask of channels that should be reversed at startup
uint16_t _reversed_mask; uint32_t _reversed_mask;
// mask of active ESCs // mask of active ESCs
uint16_t _active_escs_mask; uint32_t _active_escs_mask;
// min time to trigger next pulse to prevent overlap // min time to trigger next pulse to prevent overlap
uint64_t min_pulse_trigger_us; uint64_t min_pulse_trigger_us;
@ -573,12 +578,12 @@ private:
uint8_t safety_press_count; // 0.1s units uint8_t safety_press_count; // 0.1s units
// mask of channels to allow when safety on // mask of channels to allow when safety on
uint16_t safety_mask; uint32_t safety_mask;
// update safety switch and LED // update safety switch and LED
void safety_update(void); 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 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) // Set the dshot outputs that should be reversed (as opposed to 3D)
// The chanmask passed is added (ORed) into any existing mask. // The chanmask passed is added (ORed) into any existing mask.
// The mask uses servo channel numbering // 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); _reversed_mask |= (chanmask >> chan_offset);
} }
// Set the dshot outputs that should be reversible/3D // Set the dshot outputs that should be reversible/3D
// The chanmask passed is added (ORed) into any existing mask. // The chanmask passed is added (ORed) into any existing mask.
// The mask uses servo channel numbering // 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); _reversible_mask |= (chanmask >> chan_offset);
} }