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HAL_ChibiOS: fixed reconfig of group after serial_end()

This commit is contained in:
Andrew Tridgell 2018-03-26 10:48:38 +11:00
parent 46c76c3d5d
commit d258eac88d
1 changed files with 29 additions and 3 deletions
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32
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -82,6 +82,11 @@ void RCOutput::init()
*/
void RCOutput::set_freq_group(pwm_group &group)
{
if (mode_requires_dma(group.current_mode)) {
// speed setup in DMA handler
return;
}
uint16_t freq_set = group.rc_frequency;
uint32_t old_clock = group.pwm_cfg.frequency;
@ -104,8 +109,17 @@ void RCOutput::set_freq_group(pwm_group &group)
group.pwm_cfg.frequency /= 2;
psc = (pwmp->clock / pwmp->config->frequency) - 1;
}
bool force_reconfig = false;
for (uint8_t j=0; j<4; j++) {
if (group.pwm_cfg.channels[j].mode != PWM_OUTPUT_DISABLED &&
group.pwm_cfg.channels[j].mode == PWM_OUTPUT_ACTIVE_LOW) {
group.pwm_cfg.channels[j].mode = PWM_OUTPUT_ACTIVE_HIGH;
force_reconfig = true;
}
}
if (old_clock != group.pwm_cfg.frequency || !group.pwm_started) {
if (old_clock != group.pwm_cfg.frequency || !group.pwm_started || force_reconfig) {
// we need to stop and start to setup the new clock
if (group.pwm_started) {
pwmStop(group.pwm_drv);
@ -892,6 +906,10 @@ bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate)
// find the channel group
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i];
if (group.current_mode == MODE_PWM_BRUSHED) {
// can't do serial output with brushed motors
continue;
}
if (group.ch_mask & (1U<<chan)) {
if (serial_group && serial_group != &group) {
// we're changing to a new group, end the previous output
@ -1084,6 +1102,9 @@ bool RCOutput::serial_read_byte(uint8_t &b)
*/
uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
{
if (serial_group == nullptr) {
return 0;
}
pwm_group &group = *serial_group;
uint8_t chan = group.chan[group.serial.chan];
uint32_t gpio_mode = PAL_MODE_INPUT | PAL_STM32_OSPEED_LOWEST | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_PUPDR_PULLUP;
@ -1136,9 +1157,14 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
void RCOutput::serial_end(void)
{
if (serial_group) {
pwm_group &group = *serial_group;
// restore normal output
set_group_mode(*serial_group);
set_freq_group(*serial_group);
if (group.pwm_started) {
pwmStop(group.pwm_drv);
group.pwm_started = false;
}
set_group_mode(group);
set_freq_group(group);
irq.waiter = nullptr;
}
serial_group = nullptr;