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AP_HAL_ChibiOS: fix sending of dshot commands to all channels

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This commit is contained in:
Andy Piper 2023-05-31 22:29:58 +01:00 committed by Andrew Tridgell
parent e6e0543b8a
commit 837c81af5e
2 changed files with 8 additions and 9 deletions
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11
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -385,7 +385,6 @@ private:
struct {
uint16_t erpm[4];
volatile bool enabled;
#ifdef HAL_WITH_BIDIR_DSHOT
const stm32_dma_stream_t *ic_dma[4];
uint16_t dma_tx_size; // save tx value from last read
Shared_DMA *ic_dma_handle[4];
@ -398,11 +397,9 @@ private:
uint16_t telem_rate[4];
uint16_t telem_err_rate[4];
uint64_t last_print; // debug
#endif
#endif
} bdshot;
#endif
#ifdef HAL_WITH_BIDIR_DSHOT
// do we have an input capture dma channel
bool has_ic_dma() const {
return bdshot.ic_dma_handle[bdshot.curr_telem_chan] != nullptr;
@ -425,7 +422,7 @@ private:
bool ic_enabled() const {
return bdshot.enabled && has_ic();
}
#endif
#endif // HAL_WITH_BIDIR_DSHOT
// are we safe to send another pulse?
bool can_send_dshot_pulse() const {
return is_dshot_protocol(current_mode) && AP_HAL::micros() - last_dmar_send_us > (dshot_pulse_time_us + 50);
@ -492,7 +489,7 @@ private:
struct pwm_group *serial_group;
thread_t *serial_thread;
tprio_t serial_priority;
#endif
#endif // HAL_SERIAL_ESC_COMM_ENABLED
static bool soft_serial_waiting() {
#if HAL_SERIAL_ESC_COMM_ENABLED
@ -579,7 +576,7 @@ private:
return (_dshot_current_command.chan == RCOutput::ALL_CHANNELS || (group.ch_mask & (1UL << _dshot_current_command.chan)))
&& _dshot_current_command.cycle > 0;
}
#endif
#endif // HAL_DSHOT_ENABLED
bool corked;
// mask of channels that are running in high speed
uint32_t fast_channel_mask;

6
libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
View File

@ -108,13 +108,15 @@ void RCOutput::send_dshot_command(uint8_t command, uint8_t chan, uint32_t comman
return;
}
// not an FMU channel
if (chan < chan_offset) {
if (chan < chan_offset || chan == ALL_CHANNELS) {
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_dshot()) {
iomcu.send_dshot_command(command, chan, command_timeout_ms, repeat_count, priority);
}
#endif
return;
if (chan != ALL_CHANNELS) {
return;
}
}
DshotCommandPacket pkt;