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HAL_ChibiOS: allow for 16kHz brushed on all timers

This commit is contained in:
Andrew Tridgell 2018-02-02 17:20:57 +11:00
parent b0d0ee1f01
commit b992b5e02a
1 changed files with 17 additions and 6 deletions
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23
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -93,19 +93,30 @@ void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
*/
update_mask |= grp_ch_mask;
uint16_t freq_set = freq_hz;
if (!pwm_group_list[i].advanced_timer && freq_set > 400) {
freq_set = 400;
}
bool changed_clock = false;
uint32_t old_clock = pwm_group_list[i].pwm_cfg.frequency;
if (freq_set > 400 && pwm_group_list[i].pwm_cfg.frequency == 1000000) {
// need to change to an 8MHz clock
pwm_group_list[i].pwm_cfg.frequency = 8000000;
changed_clock = true;
} else if (freq_set <= 400 && pwm_group_list[i].pwm_cfg.frequency == 8000000) {
// need to change to an 1MHz clock
pwm_group_list[i].pwm_cfg.frequency = 1000000;
}
if (changed_clock) {
// check if the frequency is possible, and keep halving
// down to 1MHz until it is OK with the hardware timer we
// are using. If we don't do this we'll hit an assert in
// the ChibiOS PWM driver on some timers
PWMDriver *pwmp = pwm_group_list[i].pwm_drv;
uint32_t psc = (pwmp->clock / pwmp->config->frequency) - 1;
while ((psc > 0xFFFF || ((psc + 1) * pwmp->config->frequency) != pwmp->clock) &&
pwm_group_list[i].pwm_cfg.frequency > 1000000) {
pwm_group_list[i].pwm_cfg.frequency /= 2;
psc = (pwmp->clock / pwmp->config->frequency) - 1;
}
if (old_clock != pwm_group_list[i].pwm_cfg.frequency) {
// we need to stop and start to setup the new clock
pwmStop(pwm_group_list[i].pwm_drv);
pwmStart(pwm_group_list[i].pwm_drv, &pwm_group_list[i].pwm_cfg);
}