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AP_HAL_ChibiOS: do not take bi-dir path when in serial DMA

This commit is contained in:
Andy Piper 2021-01-10 12:46:56 +00:00 committed by Andrew Tridgell
parent 89802ed6fc
commit fdbf2d369a
2 changed files with 5 additions and 3 deletions
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6
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -1073,6 +1073,7 @@ void RCOutput::dshot_send(pwm_group &group, bool blocking)
} else if (!group.dma_handle->lock_nonblock()) {
return;
}
#ifdef HAL_WITH_BIDIR_DSHOT
// assume that we won't be able to get the input capture lock
group.bdshot.enabled = false;
@ -1316,6 +1317,9 @@ bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate, uint16_t cha
return false;
}
// stop further dshot output before we reconfigure the DMA
serial_group = new_serial_group;
// setup the groups for serial output. We ask for a bit width of 1, which gets modified by the
// we setup all groups so they all are setup with the right polarity, and to make switching between
// channels in blheli pass-thru fast
@ -1328,8 +1332,6 @@ bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate, uint16_t cha
}
}
serial_group = new_serial_group;
// run the thread doing serial IO at highest priority. This is needed to ensure we don't
// lose bytes when we switch between output and input
serial_thread = chThdGetSelfX();

2
libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
View File

@ -466,7 +466,7 @@ void RCOutput::dma_up_irq_callback(void *p, uint32_t flags)
if (group->in_serial_dma && irq.waiter) {
// tell the waiting process we've done the DMA
chEvtSignalI(irq.waiter, serial_event_mask);
} else if (group->bdshot.enabled) {
} else if (!group->in_serial_dma && group->bdshot.enabled) {
group->dshot_state = DshotState::SEND_COMPLETE;
// sending is done, in 30us the ESC will send telemetry
TOGGLE_PIN_DEBUG(55);