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