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AP_HAL_ChibiOS: add fast cycle calibration step

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This commit is contained in:
Andy Piper 2021-03-30 10:11:22 +01:00 committed by Andrew Tridgell
parent 74d4af9ac9
commit ea3291520c
2 changed files with 33 additions and 4 deletions
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35
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -137,13 +137,30 @@ void RCOutput::rcout_thread()
chEvtWaitOne(EVT_PWM_START);
// it takes BLHeli32 about 30ms to calibrate frames on startup, in which it must see 10 good frames
// experiments show that this is quite fragile at lower rates, so run a calibration phase at a
// higher rate (2Khz) for 5s to get the motors armed before dropping the rate to the configured value
uint32_t cal_cycles = 5000000UL / 300UL;
_dshot_calibrating = true;
const uint32_t cycle_time_us = _dshot_period_us;
// while calibrating run at 3Khz to allow arming
_dshot_period_us = 300;
// prime the pump for calibration
chEvtSignal(rcout_thread_ctx, EVT_PWM_SYNTHETIC_SEND);
// don't start calibrating until everything else is ready
chEvtWaitOne(EVT_PWM_SEND);
// dshot is quite sensitive to timing, it's important to output pulses as
// regularly as possible at the correct bitrate
while (true) {
chEvtWaitOne(EVT_PWM_SEND | EVT_PWM_SYNTHETIC_SEND);
// while calibrating ignore all push-based requests and stick closely to the dshot period
if (_dshot_calibrating) {
chEvtWaitOne(EVT_PWM_SYNTHETIC_SEND);
} else {
chEvtWaitOne(EVT_PWM_SEND | EVT_PWM_SYNTHETIC_SEND);
}
// start the clock
last_thread_run_us = AP_HAL::micros();
@ -152,7 +169,7 @@ void RCOutput::rcout_thread()
if (_dshot_cycle == 0) {
last_cycle_run_us = AP_HAL::micros();
// register a timer for the next tick if push() will not be providing it
if (_dshot_rate != 1) {
if (_dshot_rate != 1 || _dshot_calibrating) {
chVTSet(&_dshot_rate_timer, chTimeUS2I(_dshot_period_us), dshot_update_tick, this);
}
}
@ -177,6 +194,15 @@ void RCOutput::rcout_thread()
// process any pending RC output requests
timer_tick(time_out_us);
if (_dshot_calibrating) {
cal_cycles--;
if (cal_cycles == 0) {
// calibration is done re-instate the desired rate
_dshot_calibrating = false;
_dshot_period_us = cycle_time_us;
}
}
}
}
@ -185,7 +211,7 @@ void RCOutput::dshot_update_tick(void* p)
chSysLockFromISR();
RCOutput* rcout = (RCOutput*)p;
if (rcout->_dshot_cycle + 1 < rcout->_dshot_rate) {
if (rcout->_dshot_cycle + 1 < rcout->_dshot_rate || rcout->_dshot_calibrating) {
chVTSetI(&rcout->_dshot_rate_timer, chTimeUS2I(rcout->_dshot_period_us), dshot_update_tick, p);
}
chEvtSignalI(rcout->rcout_thread_ctx, EVT_PWM_SYNTHETIC_SEND);
@ -1331,7 +1357,8 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
value += 47;
}
bool request_telemetry = (telem_request_mask & chan_mask)?true:false;
// according to sskaug requesting telemetry while trying to arm may interfere with the good frame calc
bool request_telemetry = (telem_request_mask & chan_mask) ? !_dshot_calibrating : false;
uint16_t packet = create_dshot_packet(value, request_telemetry, group.bdshot.enabled);
if (request_telemetry) {
telem_request_mask &= ~chan_mask;

2
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -425,6 +425,8 @@ private:
uint8_t _dshot_rate;
// dshot periods since the last push()
uint8_t _dshot_cycle;
// in the very even pulse calibration step
bool _dshot_calibrating;
// virtual timer for post-push() pulses
virtual_timer_t _dshot_rate_timer;