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84 Commits

Author SHA1 Message Date
Andy Piper e9ea360a99 AP_HAL_ChibiOS: don't timeout after 11 bits on serial irqs 2021-01-12 09:58:58 +11:00
Andrew Tridgell 6f4bfed82d HAL_ChibiOS: fixed build with alarm and no PWM channels 
this fixes a build error due to conditional always being false when
NUM_GROUPS==0 by using a C++ iterator. It also makes the code neater
 2021-01-04 09:04:06 +11:00
Andy Piper 401e5c2073 AP_HAL_ChibiOS: add support for bidir DShot support in RCOutput 
add support for sampling GPIO pins using timer
don't restart pwm group when not doing bi-dir
fix hwdef generation preproc for TIM DMA
decode telemetry at the start of the dshot cycle
calculate dshot pulse separation correctly and ensure we output rapidly enough
calculate dshot min periods and timeouts correctly
refactor dshot_send() into dshot_send_groups()
use bi-dir dshot channel mask
selectively enable bi-dir RC Channels
process bi-dir mask correctly when allocating DMA channels
allow UP and CH DMA channel sharing
optionally enable bidir vars in hwdef.

enable bi-dir dshot in KakuteF7Mini
enable bi-dir dshot in OmnibusF4Pro
enable bi-dir dshot in OmnibusNanoV6
enable bi-dir dshot in MatekF405
enable bi-dir dshot in fmuv5
enable bi-dir dshot in fmuv3
enable bi-dir dshot in OmnibusF7V2
enable bi-dir dshot in OmnibusNanoV6
enable bi-dir dshot in CubeOrange
enable bi-dir dshot in Pixracer
enable bi-dir dshot in mRoPixracerPro

Co-authored-by: bugobliterator <siddharthbharatpurohit@gmail.com>
 2020-12-30 19:14:16 +11:00
Peter Hall fe5779fd88 AP_HAL_ChibiOS: add support for ProfiLEDs 2020-03-10 10:37:26 +11:00
Andrew Tridgell 669b98c6df HAL_ChibiOS: allow more than 32 WS2812 LEDs on a pin 2020-02-27 13:12:26 +11:00
Peter Hall 0ca6b7cf77 AP_HAL_ChibiOS: retry neopixel until successful send 2020-02-25 11:15:55 +11:00
Andrew Tridgell a0fe1a7598 HAL_ChibiOS: produce more accurate clocks for DShot and PWM 2020-02-12 18:12:39 +11:00
Andrew Tridgell adf17414e0 HAL_ChibiOS: fixed output string for non-DMA capable chan 
this fixes a problem where the user requests DShot (which rquired DMA)
on an output channel which cannot allocate a DMA channel. We end up
sending normal PWM, so the string representation of the output modes
should reflect that
 2020-02-12 14:08:40 +11:00
Randy Mackay a71ae54d3a AP_HAL: add RCOutput::get_output_mode_banner 2020-02-04 12:23:33 +11:00
Andrew Tridgell 4636a4c458 HAL_ChibiOS: support LEDs with a wider range of frequencies 
this fixed LEDs on FMUv5 boards on first 4 aux channels. We need to
round up not round down in the resulting bitrate
 2019-11-18 15:54:36 -08:00
Mirko Denecke b84dcd483d AP_HAL_ChibiOS: remove unnecessary tabs and whitespaces 2019-10-21 08:01:56 +11:00
Andrew Tridgell 77bf67e15f HAL_ChibiOS: fixed padding of neopixel bits 
lack of padding at start caused occasional glitches in colors
displayed
 2019-10-10 10:41:19 +11:00
Mark Whitehorn d8a07b6c44 HAL_ChibiOS: fix FMU fast_channel_mask 
fix IO fast channel mask
use IOMCU chmask to only set right channels
remove unused variable
 2019-10-01 07:13:33 +10:00
Andrew Tridgell 386e7dc3e8 HAL_ChibiOS: fixed delay for OneShot125 channels 
we were delaying output for OneShot125 by 8x as much as we need to,
which reduced our max loop rate
 2019-09-22 19:43:35 +10:00
Andrew Tridgell 03c1a8bfd9 HAL_ChibiOS: use safety button logic from AP_BoardConfig 2019-09-10 16:22:33 +10:00
Andrew Tridgell f441223b55 HAL_ChibiOS: implement updated NeoPixel API 
allow for N leds per chain, and setting separate colours per led in
each chain
 2019-09-10 13:03:28 +10:00
Tom Pittenger e3416b66dc AP_HAL_ChibiOS: add Neopixel output type, similar to dshot 2019-09-10 13:03:28 +10:00
Andrew Tridgell d1565a96c5 HAL_ChibiOS: wrap cacheBuffer functions 
needed to avoid problem with end() method in UARTDriver shadowing with
F7 implementation of cache macros
 2019-08-27 15:40:43 +10:00
Andrew Tridgell dbfe6b8019 HAL_ChibiOS: implement persistent_data for watchdog 
this is a much simpler approach to persistent data
 2019-05-15 15:33:48 +10:00
Andrew Tridgell 1acb7e977f HAL_ChibiOS: added ability to restore safety state on watchdog reset 2019-04-22 16:53:35 +10:00
Andrew Tridgell 94abc5a54d HAL_ChibiOS: fixed DShot on H7 2019-02-26 16:18:26 +11:00
Andrew Tridgell 231117e9b1 HAL_ChibiOS: invalidate before read on rx, not on DMA setup 
more efficient, as we only invalidate what was used
 2019-02-26 16:18:26 +11:00
Andrew Tridgell 071d5e01af HAL_ChibiOS: added DMAMUX channel assignment calls 2019-02-26 16:18:26 +11:00
Andrew Tridgell f4e31ce65b HAL_ChibiOS: added more cache flush ops 2019-02-26 16:18:26 +11:00
Andrew Tridgell d96142a37e HAL_ChibiOS: allow double allocate call in RCOutput 2019-02-26 16:18:26 +11:00
Andrew Tridgell bbd25350eb HAL_ChibiOS: support ChibiOS kernel major 6 
preparing for STM32H7 support
 2019-02-26 16:18:26 +11:00
Tom Pittenger 548a579f18 AP_HAL_ChibiOS: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Andrew Tridgell 50683633b3 HAL_ChibiOS: setup for brushed feature in IOMCU 2018-11-30 13:14:14 +11:00
Andrew Tridgell 8dd58b4181 HAL_ChibiOS: support reversible DShot motors 2018-11-16 08:33:35 +11:00
Randy Mackay c1ab3afb6c AP_HAL_ChibiOS: fix safety switch option handling 2018-10-04 16:13:24 +10:00
Andrew Tridgell 8c391291a3 HAL_ChibiOS: fixed a race in DShot code 
this fixes a problem found by Daniel Met with the copter 3.6 beta
release
 2018-10-03 15:28:07 +10:00
Siddharth Purohit 87a2dea9d4 HAL_ChibiOS: disable features that require advanced dma 2018-09-19 12:14:15 +10:00
Andrew Tridgell 8c33b4b97d HAL_ChibiOS: implement set_failsafe_pwm() 2018-09-13 08:15:02 +10:00
Peter Barker 2209e4a697 AP_HAL_ChibiOS: new HAL functor-based methods 
AP_HAL_ChibiOS: adjust for irq-type enumeration change

AP_HAL_ChibiOS: implement attach-AP_HAL::Proc to interrupt interface
 2018-08-21 20:34:01 +09:00
Andrew Tridgell 3df2a1c228 HAL_ChibiOS: fixed dshot bad frames 
adding a pre-bit on the DMAR, and ensuring that all groups are setup
for DMA together fixes the remaining bad frames reports in BLHeli32
 2018-08-04 19:29:13 +10:00
Andrew Tridgell 946b4db0e6 HAL_ChibiOS: set min dshot separation to 100usec 
this fixes a problem with BLHeli32 not recognising dshot
 2018-08-04 19:29:13 +10:00
Andrew Tridgell 22ba9a0aea HAL_ChibiOS: fixed timeout of serial read bytes 
this allows for fast timeout of serial read bytes in BLHeli pass-thru
 2018-08-04 19:29:13 +10:00
Lucas De Marchi 668c941717 Global: use new version of ARRAY_SIZE 2018-08-04 15:31:55 +10:00
Siddharth Purohit 395c48933c HAL_ChibiOS: move tto using updated time conversion API 2018-08-03 13:44:59 +10:00
Andrew Tridgell 1eef29e525 HAL_ChibiOS: only set freq on valid IO channels 2018-07-28 15:25:57 +10:00
Andrew Tridgell e3b68876a9 HAL_ChibiOS: fixed tx_len on tx DMA timeout 2018-06-19 09:08:45 +10:00
Andrew Tridgell 2493cdbcb6 HAL_ChibiOS: switch to new bouncebuffer system 
this removes the dma_flush and dma_invalidate methods and uses a
common bouncebuffer system for all CPU types. This enables microSD
support on STM32F7
 2018-06-06 07:15:41 +10:00
Andrew Tridgell edb831653f HAL_ChibiOS: added dma_flush and dma_invalidate operations 
these are needed to manage the data cache on the STM32F7
 2018-06-06 07:15:41 +10:00
Andrew Tridgell 7e897c16c0 HAL_ChibiOS: maintain rcout state beyond BRD_PWM_COUNT 
allow channels beyond BRD_PWM_COUNT to be sent over SBUS or DShot
distribution
 2018-05-26 12:08:54 +10:00
Andrew Tridgell f3179e7934 HAL_ChibiOS: improved reliability of DShot passthru 
thanks to WickedShell for debugging this on his Wraith32 ESCs. We were
truncating the last bit on some BLHeli transfers
 2018-05-22 18:59:51 +10:00
Andrew Tridgell dcd7799ec9 HAL_ChibiOS: fixed DShot output on fixed wing 
we need to mark the channels as 'fast' for DShot to enable properly
 2018-05-21 13:31:00 +10:00
Andrew Tridgell 794ebe32e3 HAL_ChibiOS: fixed mixture of oneshot and normal PWM on IOMCU 2018-05-12 07:28:05 +10:00
Andrew Tridgell bb0cbd15a4 HAL_ChibiOS: implement fmuv4 safety state 
and added safety_mask and safety_pwm support for both fmuv3 and fmuv4
 2018-04-17 10:14:01 +10:00
Andrew Tridgell 4871bbf403 HAL_ChibiOS: make soft serial for RC serial more efficient 
using system ticks halves the IRQ time
 2018-04-16 07:40:55 +10:00
Alexander Malishev 79b5719419 ChibiOS: add support for complementry output timer channels 2018-04-14 09:25:15 +10:00