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AP_IOMCU: allow bdshot iomcu on non-bdshot fmu

This commit is contained in:
Andy Piper 2023-11-16 17:44:55 +00:00 committed by Andrew Tridgell
parent 6dec0c2da5
commit 92ef809e3b
2 changed files with 8 additions and 4 deletions
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9
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -117,12 +117,13 @@ void AP_IOMCU::thread_main(void)
uart.begin(1500*1000, 128, 128); uart.begin(1500*1000, 128, 128);
uart.set_unbuffered_writes(true); uart.set_unbuffered_writes(true);
#if HAL_WITH_IO_MCU_BIDIR_DSHOT
AP_BLHeli* blh = AP_BLHeli::get_singleton(); AP_BLHeli* blh = AP_BLHeli::get_singleton();
uint16_t erpm_period_ms = 10; // default 100Hz uint16_t erpm_period_ms = 10; // default 100Hz
if (blh && blh->get_telemetry_rate() > 0) { if (blh && blh->get_telemetry_rate() > 0) {
erpm_period_ms = constrain_int16(1000 / blh->get_telemetry_rate(), 1, 1000); erpm_period_ms = constrain_int16(1000 / blh->get_telemetry_rate(), 1, 1000);
} }
#endif
trigger_event(IOEVENT_INIT); trigger_event(IOEVENT_INIT);
while (!do_shutdown) { while (!do_shutdown) {
@ -317,7 +318,7 @@ void AP_IOMCU::thread_main(void)
read_servo(); read_servo();
last_servo_read_ms = AP_HAL::millis(); last_servo_read_ms = AP_HAL::millis();
} }
#if HAL_WITH_IO_MCU_BIDIR_DSHOT
if (AP_BoardConfig::io_dshot() && now - last_erpm_read_ms > erpm_period_ms) { if (AP_BoardConfig::io_dshot() && now - last_erpm_read_ms > erpm_period_ms) {
// read erpm at configured rate. A more efficient scheme might be to // read erpm at configured rate. A more efficient scheme might be to
// send erpm info back with the response from a PWM send, but that would // send erpm info back with the response from a PWM send, but that would
@ -333,7 +334,7 @@ void AP_IOMCU::thread_main(void)
read_telem(); read_telem();
last_telem_read_ms = AP_HAL::millis(); last_telem_read_ms = AP_HAL::millis();
} }
#endif
if (now - last_safety_option_check_ms > 1000) { if (now - last_safety_option_check_ms > 1000) {
update_safety_options(); update_safety_options();
last_safety_option_check_ms = now; last_safety_option_check_ms = now;
@ -397,6 +398,7 @@ void AP_IOMCU::read_rc_input()
} }
} }
#if HAL_WITH_IO_MCU_BIDIR_DSHOT
/* /*
read dshot erpm read dshot erpm
*/ */
@ -452,6 +454,7 @@ void AP_IOMCU::read_telem()
} }
esc_group = (esc_group + 1) % (IOMCU_MAX_TELEM_CHANNELS / 4); esc_group = (esc_group + 1) % (IOMCU_MAX_TELEM_CHANNELS / 4);
} }
#endif
/* /*
read status registers read status registers

3
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -271,11 +271,12 @@ private:
uint16_t rate; uint16_t rate;
} dshot_rate; } dshot_rate;
#if HAL_WITH_IO_MCU_BIDIR_DSHOT
// bi-directional dshot erpm values // bi-directional dshot erpm values
struct page_dshot_erpm dshot_erpm; struct page_dshot_erpm dshot_erpm;
struct page_dshot_telem dshot_telem[IOMCU_MAX_TELEM_CHANNELS/4]; struct page_dshot_telem dshot_telem[IOMCU_MAX_TELEM_CHANNELS/4];
uint8_t esc_group; uint8_t esc_group;
#endif
// queue of dshot commands that need sending // queue of dshot commands that need sending
ObjectBuffer<page_dshot> dshot_command_queue{8}; ObjectBuffer<page_dshot> dshot_command_queue{8};