ardupilot/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp

141 lines
4.7 KiB
C++

/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "RCOutput.h"
#include <AP_Math/AP_Math.h>
#include "hwdef/common/stm32_util.h"
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#if HAL_USE_PWM == TRUE
#ifndef DISABLE_DSHOT
using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
bool RCOutput::dshot_send_command(pwm_group& group, uint8_t command, uint8_t chan)
{
if (!group.can_send_dshot_pulse()) {
return false;
}
if (irq.waiter || (group.dshot_state != DshotState::IDLE && group.dshot_state != DshotState::RECV_COMPLETE)) {
// doing serial output or DMAR input, don't send DShot pulses
return false;
}
TOGGLE_PIN_DEBUG(81);
// first make sure we have the DMA channel before anything else
osalDbgAssert(!group.dma_handle->is_locked(), "DMA handle is already locked");
group.dma_handle->lock();
// only the timer thread releases the locks
group.dshot_waiter = rcout_thread_ctx;
bool bdshot_telem = false;
#ifdef HAL_WITH_BIDIR_DSHOT
// no need to get the input capture lock
group.bdshot.enabled = false;
if ((_bdshot.mask & group.ch_mask) == group.ch_mask) {
bdshot_telem = true;
// it's not clear why this is required, but without it we get no output
if (group.pwm_started) {
pwmStop(group.pwm_drv);
}
pwmStart(group.pwm_drv, &group.pwm_cfg);
group.pwm_started = true;
}
#endif
memset((uint8_t *)group.dma_buffer, 0, DSHOT_BUFFER_LENGTH);
// keep the other ESCs armed rather than sending nothing
const uint16_t zero_packet = create_dshot_packet(0, false, bdshot_telem);
const uint16_t packet = create_dshot_packet(command, true, bdshot_telem);
for (uint8_t i = 0; i < 4; i++) {
if (group.chan[i] == chan || (chan == RCOutput::ALL_CHANNELS && group.is_chan_enabled(i))) {
fill_DMA_buffer_dshot(group.dma_buffer + i, 4, packet, group.bit_width_mul);
} else if (group.is_chan_enabled(i)) {
fill_DMA_buffer_dshot(group.dma_buffer + i, 4, zero_packet, group.bit_width_mul);
}
}
chEvtGetAndClearEvents(group.dshot_event_mask);
// start sending the pulses out
send_pulses_DMAR(group, DSHOT_BUFFER_LENGTH);
TOGGLE_PIN_DEBUG(81);
return true;
}
// Send a dshot command, if command timout is 0 then 10 commands are sent
// chan is the servo channel to send the command to
void RCOutput::send_dshot_command(uint8_t command, uint8_t chan, uint32_t command_timeout_ms, uint16_t repeat_count, bool priority)
{
DshotCommandPacket pkt;
pkt.command = command;
pkt.chan = chan;
if (command_timeout_ms == 0) {
pkt.cycle = MAX(10, repeat_count);
} else {
pkt.cycle = MAX(command_timeout_ms * 1000 / _dshot_period_us, repeat_count);
}
// prioritize anything that is not an LED or BEEP command
if (!_dshot_command_queue.push(pkt) && priority) {
_dshot_command_queue.push_force(pkt);
}
}
// Set the dshot outputs that should be reversed (as opposed to 3D)
// The chanmask passed is added (ORed) into any existing mask.
void RCOutput::set_reversed_mask(uint16_t chanmask) {
_reversed_mask |= chanmask;
}
// Set the dshot outputs that should be reversible/3D
// The chanmask passed is added (ORed) into any existing mask.
void RCOutput::set_reversible_mask(uint16_t chanmask) {
_reversible_mask |= chanmask;
}
// Update the dshot outputs that should be reversible/3D at 1Hz
void RCOutput::update_channel_masks() {
// post arming dshot commands will not be accepted
if (hal.util->get_soft_armed()) {
return;
}
for (uint8_t i=0; i<HAL_PWM_COUNT; i++) {
switch (_dshot_esc_type) {
case DSHOT_ESC_BLHELI:
if (_reversible_mask & (1U<<i)) {
send_dshot_command(DSHOT_3D_ON, i, 0, 10, true);
}
if (_reversed_mask & (1U<<i)) {
send_dshot_command(DSHOT_REVERSE, i, 0, 10, true);
}
break;
default:
break;
}
}
}
#endif // DISABLE_DSHOT
#endif // HAL_USE_PWM