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AP_IOMCU: fix eventing mask and some minor cleanups

This commit is contained in:
Andy Piper 2023-08-14 08:43:33 +01:00 committed by Andrew Tridgell
parent 0d7fbc7bf3
commit c4cfc5dbe4
2 changed files with 13 additions and 15 deletions
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22
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -246,7 +246,7 @@ void AP_IOMCU::thread_main(void)
if (mask & EVENT_MASK(IOEVENT_SET_OUTPUT_MODE)) {
if (!write_registers(PAGE_SETUP, PAGE_REG_SETUP_OUTPUT_MODE, sizeof(mode_out)/2, (const uint16_t *)&mode_out)) {
event_failed(IOEVENT_SET_OUTPUT_MODE);
event_failed(mask);
continue;
}
}
@ -831,7 +831,9 @@ void AP_IOMCU::set_brushed_mode(void)
}
#if HAL_DSHOT_ENABLED
// set output mode
// directly set the dshot rate - period_us is the dshot tick period_us and drate is the number
// of dshot ticks per main loop cycle. These values are calculated by RCOutput::set_dshot_rate()
// if the backend is free running then then period_us is fixed at 1000us and drate is 0
void AP_IOMCU::set_dshot_period(uint16_t period_us, uint8_t drate)
{
dshot_rate.period_us = period_us;
@ -880,15 +882,15 @@ AP_HAL::RCOutput::output_mode AP_IOMCU::get_output_mode(uint8_t& mask) const
// setup channels
void AP_IOMCU::enable_ch(uint8_t ch)
{
if (!(pwm_out.channel_mask & 1U << ch)) {
pwm_out.channel_mask |= 1U << ch;
if (!(pwm_out.channel_mask & (1U << ch))) {
pwm_out.channel_mask |= (1U << ch);
trigger_event(IOEVENT_SET_CHANNEL_MASK);
}
}
void AP_IOMCU::disable_ch(uint8_t ch)
{
if (pwm_out.channel_mask & 1U << ch) {
if (pwm_out.channel_mask & (1U << ch)) {
pwm_out.channel_mask &= ~(1U << ch);
trigger_event(IOEVENT_SET_CHANNEL_MASK);
}
@ -941,14 +943,12 @@ bool AP_IOMCU::check_crc(void)
{
// flash size minus 4k bootloader
const uint32_t flash_size = 0x10000 - 0x1000;
const char *path = AP_BoardConfig::io_dshot() ? dshot_fw_name : fw_name;
fw = AP_ROMFS::find_decompress(path, fw_size);
if (!AP_BoardConfig::io_dshot()) {
fw = AP_ROMFS::find_decompress(fw_name, fw_size);
} else {
fw = AP_ROMFS::find_decompress(dshot_fw_name, fw_size);
}
if (!fw) {
DEV_PRINTF("failed to find %s\n", AP_BoardConfig::io_dshot()?dshot_fw_name:fw_name);
DEV_PRINTF("failed to find %s\n", path);
return false;
}
uint32_t crc = crc32_small(0, fw, fw_size);

6
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -50,9 +50,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
a value of 2 means test with reboot
*/
#define IOMCU_ENABLE_RESET_TEST 0
#ifndef IOMCU_SEND_TX_FROM_RX
#define IOMCU_SEND_TX_FROM_RX 1
#endif
// enable timing GPIO pings
#ifdef IOMCU_LOOP_TIMING_DEBUG
#undef TOGGLE_PIN_DEBUG
@ -494,6 +492,7 @@ void AP_IOMCU_FW::update()
if (now_us - last_fast_loop_us >= 1000)
{
last_fast_loop_us = now_us;
heater_update();
rcin_update();
rcin_serial_update();
}
@ -503,7 +502,6 @@ void AP_IOMCU_FW::update()
// so there is no way they can effectively be run faster than 100Hz
if (now - last_slow_loop_ms > 10) {
last_slow_loop_ms = now;
heater_update();
safety_update();
rcout_config_update();
hal.rcout->timer_tick();