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AP_BLHeli: support upto 32 servo outputs

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Iampete1 2021-12-10 16:49:58 +00:00 committed by Andrew Tridgell
parent 117b67c9e2
commit e03aed3aa7
2 changed files with 12 additions and 12 deletions
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22
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -58,7 +58,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @Param: MASK
// @DisplayName: BLHeli Channel Bitmask
// @Description: Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("MASK", 1, AP_BLHeli, channel_mask, 0),
@ -129,7 +129,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @Param: 3DMASK
// @DisplayName: BLHeli bitmask of 3D channels
// @Description: Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("3DMASK", 10, AP_BLHeli, channel_reversible_mask, 0),
@ -138,7 +138,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @Param: BDMASK
// @DisplayName: BLHeli bitmask of bi-directional dshot channels
// @Description: Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("BDMASK", 11, AP_BLHeli, channel_bidir_dshot_mask, 0),
@ -146,7 +146,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
// @Param: RVMASK
// @DisplayName: BLHeli bitmask of reversed channels
// @Description: Mask of channels which are reversed. This is used to configure ESCs in reversed mode
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
// @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("RVMASK", 12, AP_BLHeli, channel_reversed_mask, 0),
@ -1333,7 +1333,7 @@ void AP_BLHeli::init(void)
}
#endif
uint16_t mask = uint16_t(channel_mask.get());
uint32_t mask = uint32_t(channel_mask.get());
/*
allow mode override - this makes it possible to use DShot for
@ -1359,7 +1359,7 @@ void AP_BLHeli::init(void)
break;
}
uint16_t digital_mask = 0;
uint32_t digital_mask = 0;
// setting the digital mask changes the min/max PWM values
// it's important that this is NOT done for non-digital channels as otherwise
// PWM min can result in motors turning. set for individual overrides first
@ -1386,15 +1386,15 @@ void AP_BLHeli::init(void)
}
#endif
// tell SRV_Channels about ESC capabilities
SRV_Channels::set_digital_outputs(digital_mask, uint16_t(channel_reversible_mask.get()) & digital_mask);
SRV_Channels::set_digital_outputs(digital_mask, uint32_t(channel_reversible_mask.get()) & digital_mask);
// the dshot ESC type is required in order to send the reversed/reversible dshot command correctly
hal.rcout->set_dshot_esc_type(SRV_Channels::get_dshot_esc_type());
hal.rcout->set_reversible_mask(uint16_t(channel_reversible_mask.get()) & digital_mask);
hal.rcout->set_reversed_mask(uint16_t(channel_reversed_mask.get()) & digital_mask);
hal.rcout->set_reversible_mask(uint32_t(channel_reversible_mask.get()) & digital_mask);
hal.rcout->set_reversed_mask(uint32_t(channel_reversed_mask.get()) & digital_mask);
#ifdef HAL_WITH_BIDIR_DSHOT
// possibly enable bi-directional dshot
hal.rcout->set_motor_poles(motor_poles);
hal.rcout->set_bidir_dshot_mask(uint16_t(channel_bidir_dshot_mask.get()) & digital_mask);
hal.rcout->set_bidir_dshot_mask(uint32_t(channel_bidir_dshot_mask.get()) & digital_mask);
#endif
// add motors from channel mask
for (uint8_t i=0; i<16 && num_motors < max_motors; i++) {
@ -1404,7 +1404,7 @@ void AP_BLHeli::init(void)
}
}
motor_mask = mask;
debug("ESC: %u motors mask=0x%04x", num_motors, mask);
debug("ESC: %u motors mask=0x%08lx", num_motors, mask);
// check if we have a combination of reversable and normal
mixed_type = (mask != (mask & channel_reversible_mask.get())) && (channel_reversible_mask.get() != 0);

2
libraries/AP_BLHeli/AP_BLHeli.h
View File

@ -242,7 +242,7 @@ private:
// mapping from BLHeli motor numbers to RC output channels
uint8_t motor_map[max_motors];
uint16_t motor_mask;
uint32_t motor_mask;
// convert between servo number and FMU channel number for ESC telemetry
uint8_t chan_offset;