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HAL_ChibiOS: set min dshot separation to 100usec

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this fixes a problem with BLHeli32 not recognising dshot
This commit is contained in:
Andrew Tridgell 2018-08-04 15:29:22 +10:00
parent fdc8dca00f
commit d832d4d311
2 changed files with 20 additions and 4 deletions
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17
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -68,6 +68,7 @@ void RCOutput::init()
pwmStart(group.pwm_drv, &group.pwm_cfg);
group.pwm_started = true;
}
chVTObjectInit(&group.dma_timeout);
}
#if HAL_WITH_IO_MCU
@ -777,7 +778,7 @@ void RCOutput::timer_tick(void)
if (!serial_group &&
group.current_mode >= MODE_PWM_DSHOT150 &&
group.current_mode <= MODE_PWM_DSHOT1200 &&
now - group.last_dshot_send_us > 900) {
now - group.last_dshot_send_us > 400) {
// do a blocking send now, to guarantee DShot sends at
// above 1000 Hz. This makes the protocol more reliable on
// long cables, and also keeps some ESCs happy that don't
@ -950,6 +951,17 @@ void RCOutput::send_pulses_DMAR(pwm_group &group, uint32_t buffer_length)
dmaStreamEnable(group.dma);
}
/*
unlock DMA channel after a dshot send completes
*/
void RCOutput::dma_unlock(void *p)
{
pwm_group *group = (pwm_group *)p;
chSysLockFromISR();
group->dma_handle->unlock_from_IRQ();
chSysUnlockFromISR();
}
/*
DMA interrupt handler. Used to mark DMA completed for DShot
*/
@ -962,7 +974,8 @@ void RCOutput::dma_irq_callback(void *p, uint32_t flags)
// tell the waiting process we've done the DMA
chEvtSignalI(irq.waiter, serial_event_mask);
} else {
group->dma_handle->unlock_from_IRQ();
// this prevents us ever having two dshot pulses too close together
chVTSetI(&group->dma_timeout, chTimeUS2I(dshot_min_gap_us), dma_unlock, p);
}
chSysUnlockFromISR();
}

7
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -158,7 +158,8 @@ private:
uint32_t rc_frequency;
bool in_serial_dma;
uint64_t last_dshot_send_us;
virtual_timer_t dma_timeout;
// serial output
struct {
// expected time per bit
@ -277,9 +278,10 @@ private:
/*
DShot handling
*/
const uint8_t dshot_post = 6;
const uint8_t dshot_post = 2;
const uint16_t dshot_bit_length = 16 + dshot_post;
const uint16_t dshot_buffer_length = dshot_bit_length*4*sizeof(uint32_t);
static const uint16_t dshot_min_gap_us = 100;
uint32_t dshot_pulse_time_us;
uint16_t telem_request_mask;
@ -289,6 +291,7 @@ private:
void fill_DMA_buffer_dshot(uint32_t *buffer, uint8_t stride, uint16_t packet, uint16_t clockmul);
void dshot_send(pwm_group &group, bool blocking);
static void dma_irq_callback(void *p, uint32_t flags);
static void dma_unlock(void *p);
bool mode_requires_dma(enum output_mode mode) const;
bool setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_width, bool active_high);
void send_pulses_DMAR(pwm_group &group, uint32_t buffer_length);