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HAL_ChibOS: fixed mixture of brushed and normal PWM

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allow non-brushed PWM servos with brushed main motors
This commit is contained in:
Andrew Tridgell 2018-01-13 08:13:00 +11:00
parent c639708e22
commit d17e9f321a
2 changed files with 15 additions and 2 deletions
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15
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -81,12 +81,20 @@ void ChibiRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
grp_ch_mask |= (1U<<pwm_group_list[i].chan[j]);
}
}
if ((grp_ch_mask & chmask) == grp_ch_mask) {
if ((grp_ch_mask & chmask) != 0) {
/*
we enable the new frequency on all groups that have one
of the requested channels. This means we may enable high
speed on some channels that aren't requested, but that
is needed in order to fly a vehicle such a a hex
multicopter properly
*/
update_mask |= grp_ch_mask;
pwmChangePeriod(pwm_group_list[i].pwm_drv,
pwm_group_list[i].pwm_cfg.frequency/freq_hz);
}
}
fast_channel_mask |= update_mask;
if (chmask != update_mask) {
hal.console->printf("RCOutput: Failed to set PWM frequency req %x set %x\n", (unsigned)chmask, (unsigned)update_mask);
}
@ -195,7 +203,10 @@ void ChibiRCOutput::push_local(void)
uint8_t chan = pwm_group_list[i].chan[j];
if (outmask & (1UL<<chan)) {
uint32_t period_us = period[chan];
if(_output_mode == MODE_PWM_BRUSHED) {
if(_output_mode == MODE_PWM_BRUSHED && (fast_channel_mask & (1UL<<chan))) {
// note that we only use brushed signals on fast
// channels. This allows for ordinary PWM on
// servos attached to a brushed vehicle
if (period_us <= _esc_pwm_min) {
period_us = 0;
} else if (period_us >= _esc_pwm_max) {

2
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -79,6 +79,8 @@ private:
uint16_t period[16];
uint8_t num_channels;
bool corked;
// mask of channels that are running in high speed
uint16_t fast_channel_mask;
// push out values to local PWM
void push_local(void);