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HAL_ChibiOS: support oneshot mode

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supports oneshot 125 and oneshot
This commit is contained in:
Andrew Tridgell 2018-01-16 18:58:58 +11:00
parent 38a36a070f
commit 880a84294e
2 changed files with 45 additions and 0 deletions
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42
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -244,6 +244,9 @@ void RCOutput::push_local(void)
uint16_t outmask = (1U<<num_channels)-1;
outmask &= en_mask;
uint16_t widest_pulse = 0;
uint8_t need_trigger = 0;
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
for (uint8_t j = 0; j < 4; j++) {
uint8_t chan = pwm_group_list[i].chan[j];
@ -269,9 +272,37 @@ void RCOutput::push_local(void)
uint32_t width = (pwm_group_list[i].pwm_cfg.frequency/1000000) * period_us;
pwmEnableChannel(pwm_group_list[i].pwm_drv, j, width);
}
if (period_us > widest_pulse) {
widest_pulse = period_us;
}
need_trigger |= (1U<<i);
}
}
}
if (need_trigger && _output_mode == MODE_PWM_ONESHOT) {
uint64_t now = AP_HAL::micros64();
if (now < min_pulse_trigger_us) {
// guarantee minimum pulse separation
hal.scheduler->delay_microseconds(min_pulse_trigger_us - now);
}
osalSysLock();
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
if (need_trigger & (1U<<i)) {
// this triggers pulse output for a channel group
pwm_group_list[i].pwm_drv->tim->EGR = STM32_TIM_EGR_UG;
}
}
osalSysUnlock();
if (widest_pulse > 2300) {
widest_pulse = 2300;
}
/*
calculate time that we are allowed to trigger next pulse
to guarantee at least a 50us gap between pulses
*/
min_pulse_trigger_us = AP_HAL::micros64() + widest_pulse + 50;
}
}
uint16_t RCOutput::read(uint8_t chan)
@ -336,6 +367,17 @@ void RCOutput::set_output_mode(enum output_mode mode)
write(i, 0);
}
}
if (_output_mode == MODE_PWM_ONESHOT) {
// for oneshot we force 1Hz output and then trigger on each loop
for (uint8_t i=0; i< NUM_GROUPS; i++) {
pwmChangePeriod(pwm_group_list[i].pwm_drv, pwm_group_list[i].pwm_cfg.frequency);
}
#if HAL_WITH_IO_MCU
if (AP_BoardConfig::io_enabled()) {
return iomcu.set_oneshot_mode();
}
#endif
}
}
/*

3
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -89,6 +89,9 @@ private:
// mask of channels that are running in high speed
uint16_t fast_channel_mask;
// min time to trigger next pulse to prevent overlap
uint64_t min_pulse_trigger_us;
// push out values to local PWM
void push_local(void);
};