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AP_HAL_ChibiOS: correct enabled mask for motor channel output

This commit is contained in:
Andy Piper 2021-05-21 22:28:13 +01:00 committed by Randy Mackay
parent 072a321a01
commit a7a9fa93f0
2 changed files with 8 additions and 5 deletions
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4
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -465,7 +465,7 @@ void RCOutput::enable_ch(uint8_t chan)
pwm_group *grp = find_chan(chan, i);
if (grp) {
en_mask |= 1U << (chan - chan_offset);
grp->ch_mask |= 1U << chan;
grp->en_mask |= 1U << (chan - chan_offset);
}
}
@ -476,7 +476,7 @@ void RCOutput::disable_ch(uint8_t chan)
if (grp) {
pwmDisableChannel(grp->pwm_drv, i);
en_mask &= ~(1U<<(chan - chan_offset));
grp->ch_mask &= ~(1U << chan);
grp->en_mask &= ~(1U << (chan - chan_offset));
}
}

9
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -207,7 +207,7 @@ public:
/*
mark escs as active for the purpose of sending dshot commands
*/
void set_active_escs_mask(uint16_t chanmask) override { _active_escs_mask |= chanmask; }
void set_active_escs_mask(uint16_t chanmask) override { _active_escs_mask |= (chanmask >> chan_offset); }
/*
Send a dshot command, if command timout is 0 then 10 commands are sent
@ -294,7 +294,10 @@ private:
// below this line is not initialised by hwdef.h
enum output_mode current_mode;
uint16_t frequency_hz;
// mask of channels that are able to be enabled
uint16_t ch_mask;
// mask of channels that are enabled and active
uint16_t en_mask;
const stm32_dma_stream_t *dma;
Shared_DMA *dma_handle;
uint32_t *dma_buffer;
@ -388,7 +391,7 @@ private:
// return whether the group channel is both enabled in the group and for output
bool is_chan_enabled(uint8_t c) const {
return chan[c] != CHAN_DISABLED && (ch_mask & (1U << chan[c]));
return chan[c] != CHAN_DISABLED && (en_mask & (1U << chan[c]));
}
};
/*
@ -531,7 +534,7 @@ private:
// are all the ESCs returning data
bool group_escs_active(const pwm_group& group) const {
return group.ch_mask > 0 && (group.ch_mask & _active_escs_mask) == group.ch_mask;
return group.en_mask > 0 && (group.en_mask & _active_escs_mask) == group.en_mask;
}
// find a channel group given a channel number