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AP_IOMCU: reduce latency for oneshot

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correctly update outmode modes when requested
get ARM CPUID and display in startup banner
ensure correct rc input timing on 1Khz iofirmware
This commit is contained in:
Andy Piper 2023-06-24 19:16:43 +01:00 committed by Andrew Tridgell
parent 74fb1a91ca
commit 9db5d0bf9b
4 changed files with 34 additions and 28 deletions
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3
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -108,6 +108,9 @@ public:
// MCUID
uint32_t get_mcu_id() const { return config.mcuid; }
// CPUID
uint32_t get_cpu_id() const { return config.cpuid; }
#if HAL_DSHOT_ENABLED
// set dshot output period
void set_dshot_period(uint16_t period_us, uint8_t drate);

42
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
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@ -140,8 +140,7 @@ static void dma_tx_end_cb(hal_uart_driver *uart)
TOGGLE_PIN_DEBUG(108);
TOGGLE_PIN_DEBUG(108);
chEvtSignalI(iomcu.thread_ctx, iomcu.fmu_events | IOEVENT_TX_END);
iomcu.fmu_events = 0;
chEvtSignalI(iomcu.thread_ctx, IOEVENT_TX_END);
}
/* replacement for ChibiOS uart_lld_serve_interrupt() */
@ -294,7 +293,7 @@ void AP_IOMCU_FW::init()
#else
config.mcuid = (*(uint32_t *)DBGMCU_BASE);
#endif
config.cpuid = SCB->CPUID;
thread_ctx = chThdGetSelfX();
@ -491,7 +490,8 @@ void AP_IOMCU_FW::update()
}
// run fast loop functions at 1Khz
if (now_us - last_fast_loop_us > 1000) {
if (now_us - last_fast_loop_us >= 1000)
{
last_fast_loop_us = now_us;
rcin_update();
rcin_serial_update();
@ -877,7 +877,7 @@ bool AP_IOMCU_FW::handle_code_write()
i++;
}
fmu_data_received_time = last_ms;
fmu_events |= IOEVENT_PWM;
chEvtSignalI(thread_ctx, IOEVENT_PWM);
break;
}
@ -1062,30 +1062,36 @@ void AP_IOMCU_FW::rcout_config_update(void)
last_channel_mask = reg_setup.channel_mask;
}
bool use_dshot = mode_out.mode >= AP_HAL::RCOutput::MODE_PWM_DSHOT150
&& mode_out.mode <= AP_HAL::RCOutput::MODE_PWM_DSHOT300;
if (use_dshot && !dshot_enabled) {
dshot_enabled = true;
// see if there is anything to do, we only support setting the mode for a particular channel once
if ((last_output_mode_mask & ~mode_out.mask) == mode_out.mask) {
return;
}
switch (mode_out.mode) {
case AP_HAL::RCOutput::MODE_PWM_DSHOT150:
case AP_HAL::RCOutput::MODE_PWM_DSHOT300:
hal.rcout->set_output_mode(mode_out.mask, (AP_HAL::RCOutput::output_mode)mode_out.mode);
// enabling dshot changes the memory allocation
reg_status.freemem = hal.util->available_memory();
}
bool use_oneshot = (mode_out.mode == AP_HAL::RCOutput::MODE_PWM_ONESHOT
|| mode_out.mode == AP_HAL::RCOutput::MODE_PWM_ONESHOT125);
if (use_oneshot && !oneshot_enabled) {
oneshot_enabled = true;
last_output_mode_mask |= mode_out.mask;
break;
case AP_HAL::RCOutput::MODE_PWM_ONESHOT:
case AP_HAL::RCOutput::MODE_PWM_ONESHOT125:
// setup to use a 1Hz frequency, so we only get output when we trigger
hal.rcout->set_freq(mode_out.mask, 1);
hal.rcout->set_output_mode(mode_out.mask, (AP_HAL::RCOutput::output_mode)mode_out.mode);
}
bool use_brushed = mode_out.mode == AP_HAL::RCOutput::MODE_PWM_BRUSHED;
if (use_brushed && !brushed_enabled) {
brushed_enabled = true;
last_output_mode_mask |= mode_out.mask;
break;
case AP_HAL::RCOutput::MODE_PWM_BRUSHED:
// default to 2kHz for all channels for brushed output
hal.rcout->set_freq(mode_out.mask, 2000);
hal.rcout->set_esc_scaling(1000, 2000);
hal.rcout->set_output_mode(mode_out.mask, AP_HAL::RCOutput::MODE_PWM_BRUSHED);
hal.rcout->set_freq(mode_out.mask, reg_setup.pwm_altrate);
last_output_mode_mask |= mode_out.mask;
break;
default:
break;
}
uint32_t output_mask = 0;

16
libraries/AP_IOMCU/iofirmware/iofirmware.h
View File

@ -112,10 +112,12 @@ public:
} rate;
// output mode values
struct {
uint16_t mask;
uint16_t mode;
} mode_out;
struct {
uint16_t mask;
uint16_t mode;
} mode_out;
uint16_t last_output_mode_mask;
// MIXER values
struct page_mixing mixing;
@ -144,9 +146,6 @@ public:
uint32_t fmu_data_received_time;
// events that will be signaled on transaction completion;
eventmask_t fmu_events;
bool pwm_update_pending;
uint32_t last_heater_ms;
uint32_t reboot_time;
@ -161,9 +160,6 @@ public:
uint8_t led_counter;
uint32_t last_slow_loop_ms;
uint32_t last_fast_loop_us;
bool dshot_enabled;
bool oneshot_enabled;
bool brushed_enabled;
thread_t *thread_ctx;
bool last_safety_off;
uint32_t last_status_ms;

1
libraries/AP_IOMCU/iofirmware/ioprotocol.h
View File

@ -108,6 +108,7 @@ struct page_config {
uint16_t protocol_version;
uint16_t protocol_version2;
uint32_t mcuid;
uint32_t cpuid;
};
struct page_reg_status {