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AP_HAL_ChibiOS: add iomcu support for reversible mask 

check armed state on iomcu before sending dshot packets
This commit is contained in:
Andy Piper 2024-08-13 13:55:57 +01:00 committed by Andrew Tridgell
parent e21e098aa9
commit fc51829b63
2 changed files with 9 additions and 4 deletions
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7
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -1637,9 +1637,8 @@ void RCOutput::dshot_send(pwm_group &group, rcout_timer_t cycle_start_us, rcout_
bdshot_prepare_for_next_pulse(group); bdshot_prepare_for_next_pulse(group);
#endif #endif
bool safety_on = hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED; bool safety_on = hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED;
#if !defined(IOMCU_FW)
bool armed = hal.util->get_soft_armed(); bool armed = hal.util->get_soft_armed();
#endif
memset((uint8_t *)group.dma_buffer, 0, DSHOT_BUFFER_LENGTH); memset((uint8_t *)group.dma_buffer, 0, DSHOT_BUFFER_LENGTH);
for (uint8_t i=0; i<4; i++) { for (uint8_t i=0; i<4; i++) {
@ -1683,12 +1682,12 @@ void RCOutput::dshot_send(pwm_group &group, rcout_timer_t cycle_start_us, rcout_
if (value != 0) { if (value != 0) {
value += DSHOT_ZERO_THROTTLE; value += DSHOT_ZERO_THROTTLE;
} }
#if !defined(IOMCU_FW)
if (!armed) { if (!armed) {
// when disarmed we always send a zero value // when disarmed we always send a zero value
value = 0; value = 0;
} }
#endif
// according to sskaug requesting telemetry while trying to arm may interfere with the good frame calc // according to sskaug requesting telemetry while trying to arm may interfere with the good frame calc
bool request_telemetry = telem_request_mask & chan_mask; bool request_telemetry = telem_request_mask & chan_mask;
uint16_t packet = create_dshot_packet(value, request_telemetry, uint16_t packet = create_dshot_packet(value, request_telemetry,

6
libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
View File

@ -140,6 +140,12 @@ void RCOutput::set_reversed_mask(uint32_t chanmask) {
// The mask uses servo channel numbering // The mask uses servo channel numbering
void RCOutput::set_reversible_mask(uint32_t chanmask) { void RCOutput::set_reversible_mask(uint32_t chanmask) {
_reversible_mask |= chanmask; _reversible_mask |= chanmask;
#if HAL_WITH_IO_MCU
const uint32_t iomcu_mask = ((1U<<chan_offset)-1);
if (iomcu_dshot && (chanmask & iomcu_mask)) {
iomcu.set_reversible_mask(chanmask & iomcu_mask);
}
#endif
} }
// Update the dshot outputs that should be reversible/3D at 1Hz // Update the dshot outputs that should be reversible/3D at 1Hz