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AP_HAL_ChibiOS: add BLHeli_S ESC type and use it to control bitwidths

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This commit is contained in:
Andy Piper 2022-05-23 11:42:48 +01:00 committed by Andrew Tridgell
parent 35a37cb84b
commit cabaef6173
3 changed files with 24 additions and 1 deletions
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22
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -471,6 +471,28 @@ void RCOutput::set_dshot_rate(uint8_t dshot_rate, uint16_t loop_rate_hz)
_dshot_period_us = 1000000UL / drate;
}
#ifndef DISABLE_DSHOT
/*
Set/get the dshot esc_type
*/
void RCOutput::set_dshot_esc_type(DshotEscType dshot_esc_type)
{
_dshot_esc_type = dshot_esc_type;
switch (_dshot_esc_type) {
case DSHOT_ESC_BLHELI_S:
DSHOT_BIT_WIDTH_TICKS = DSHOT_BIT_WIDTH_TICKS_S;
DSHOT_BIT_0_TICKS = DSHOT_BIT_0_TICKS_S;
DSHOT_BIT_1_TICKS = DSHOT_BIT_1_TICKS_S;
break;
default:
DSHOT_BIT_WIDTH_TICKS = DSHOT_BIT_WIDTH_TICKS_DEFAULT;
DSHOT_BIT_0_TICKS = DSHOT_BIT_0_TICKS_DEFAULT;
DSHOT_BIT_1_TICKS = DSHOT_BIT_1_TICKS_DEFAULT;
break;
}
}
#endif
/*
find pwm_group and index in group given a channel number
*/

2
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -172,7 +172,7 @@ public:
/*
Set/get the dshot esc_type
*/
void set_dshot_esc_type(DshotEscType dshot_esc_type) override { _dshot_esc_type = dshot_esc_type; }
void set_dshot_esc_type(DshotEscType dshot_esc_type) override;
DshotEscType get_dshot_esc_type() const override { return _dshot_esc_type; }
#endif

1
libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
View File

@ -146,6 +146,7 @@ void RCOutput::update_channel_masks() {
for (uint8_t i=0; i<HAL_PWM_COUNT; i++) {
switch (_dshot_esc_type) {
case DSHOT_ESC_BLHELI:
case DSHOT_ESC_BLHELI_S:
if (_reversible_mask & (1U<<i)) {
send_dshot_command(DSHOT_3D_ON, i + chan_offset, 0, 10, true);
}