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AP_HAL_ChibiOS: correct printing of timer information

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Andy Piper 2023-10-16 16:54:22 +01:00 committed by Andrew Tridgell
parent cc799d3d7e
commit 7a937cd23a
1 changed files with 8 additions and 3 deletions
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11
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -2732,9 +2732,10 @@ void RCOutput::timer_info(ExpandingString &str)
{ {
// a header to allow for machine parsers to determine format // a header to allow for machine parsers to determine format
str.printf("TIMERV1\n"); str.printf("TIMERV1\n");
#if HAL_DSHOT_ENABLED
for (auto &group : pwm_group_list) { for (auto &group : pwm_group_list) {
uint32_t target_freq; uint32_t target_freq;
bool at_least_freq;
#if HAL_SERIAL_ESC_COMM_ENABLED #if HAL_SERIAL_ESC_COMM_ENABLED
if (&group == serial_group) { if (&group == serial_group) {
target_freq = 19200 * 10; target_freq = 19200 * 10;
@ -2742,14 +2743,18 @@ void RCOutput::timer_info(ExpandingString &str)
#endif // HAL_SERIAL_ESC_COMM_ENABLED #endif // HAL_SERIAL_ESC_COMM_ENABLED
if (is_dshot_protocol(group.current_mode)) { if (is_dshot_protocol(group.current_mode)) {
target_freq = protocol_bitrate(group.current_mode) * DSHOT_BIT_WIDTH_TICKS; target_freq = protocol_bitrate(group.current_mode) * DSHOT_BIT_WIDTH_TICKS;
if (_dshot_esc_type == DSHOT_ESC_BLHELI_S || _dshot_esc_type == DSHOT_ESC_BLHELI_EDT_S) {
at_least_freq = true;
}
} else { } else {
target_freq = protocol_bitrate(group.current_mode) * NEOP_BIT_WIDTH_TICKS; target_freq = protocol_bitrate(group.current_mode) * NEOP_BIT_WIDTH_TICKS;
} }
const uint32_t prescaler = calculate_bitrate_prescaler(group.pwm_drv->clock, target_freq, is_dshot_protocol(group.current_mode)); const uint32_t prescaler = calculate_bitrate_prescaler(group.pwm_drv->clock, target_freq, at_least_freq);
str.printf("TIM%-2u CLK=%4uMhz MODE=%5s FREQ=%8u TGT=%8u\n", group.timer_id, unsigned(group.pwm_drv->clock / 1000000), str.printf("TIM%-2u CLK=%4uMhz MODE=%5s FREQ=%8u TGT=%8u\n", group.timer_id, unsigned(group.pwm_drv->clock / 1000000),
get_output_mode_string(group.current_mode), get_output_mode_string(group.current_mode),
unsigned(group.pwm_drv->clock / prescaler), unsigned(target_freq)); unsigned(group.pwm_drv->clock / (prescaler + 1)), unsigned(target_freq));
} }
#endif
} }
#endif // HAL_USE_PWM #endif // HAL_USE_PWM