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AP_HAL_ChibiOS: allow bdshot iomcu on non-bdshot fmu

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This commit is contained in:
Andy Piper 2023-11-16 17:44:26 +00:00 committed by Andrew Tridgell
parent 92ef809e3b
commit d2a48148dd
4 changed files with 17 additions and 14 deletions
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3
libraries/AP_HAL_ChibiOS/RCOutput.h
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@ -164,14 +164,13 @@ public:
*/
void set_telem_request_mask(uint32_t mask) override;
#ifdef HAL_WITH_BIDIR_DSHOT
/*
enable bi-directional telemetry request for a mask of channels. This is used
with Dshot to get telemetry feedback
The mask uses servo channel numbering
*/
void set_bidir_dshot_mask(uint32_t mask) override;
#ifdef HAL_WITH_BIDIR_DSHOT
void set_motor_poles(uint8_t poles) override { _bdshot.motor_poles = poles; }
#endif

24
libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
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@ -28,8 +28,6 @@
extern AP_IOMCU iomcu;
#endif
#ifdef HAL_WITH_BIDIR_DSHOT
#if defined(IOMCU_FW)
#undef INTERNAL_ERROR
#define INTERNAL_ERROR(x) do {} while (0)
@ -39,25 +37,20 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
#if RCOU_DSHOT_TIMING_DEBUG
#define DEBUG_CHANNEL 1
#define TOGGLE_PIN_CH_DEBUG(pin, channel) do { if (channel == DEBUG_CHANNEL) palToggleLine(HAL_GPIO_LINE_GPIO ## pin); } while (0)
#else
#define TOGGLE_PIN_CH_DEBUG(pin, channel) do {} while (0)
#endif
#if HAL_USE_PWM
/*
* enable bi-directional telemetry request for a mask of channels. This is used
* with DShot to get telemetry feedback
*/
void RCOutput::set_bidir_dshot_mask(uint32_t mask)
{
#if HAL_WITH_IO_MCU
#if HAL_WITH_IO_MCU_BIDIR_DSHOT
const uint32_t iomcu_mask = ((1U<<chan_offset)-1);
if (iomcu_dshot && (mask & iomcu_mask)) {
iomcu.set_bidir_dshot_mask(mask & iomcu_mask);
}
#endif
#ifdef HAL_WITH_BIDIR_DSHOT
const uint32_t local_mask = (mask >> chan_offset) & ~_bdshot.disabled_mask;
_bdshot.mask = local_mask;
// we now need to reconfigure the DMA channels since they are affected by the value of the mask
@ -69,7 +62,18 @@ void RCOutput::set_bidir_dshot_mask(uint32_t mask)
}
set_group_mode(group);
}
#endif
}
#endif // HAL_USE_PWM
#ifdef HAL_WITH_BIDIR_DSHOT
#if RCOU_DSHOT_TIMING_DEBUG
#define DEBUG_CHANNEL 1
#define TOGGLE_PIN_CH_DEBUG(pin, channel) do { if (channel == DEBUG_CHANNEL) palToggleLine(HAL_GPIO_LINE_GPIO ## pin); } while (0)
#else
#define TOGGLE_PIN_CH_DEBUG(pin, channel) do {} while (0)
#endif
bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
{

2
libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
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@ -257,4 +257,4 @@ define HAL_OS_FATFS_IO 1
ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
# enable support for dshot on iomcu
ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
define HAL_WITH_IO_MCU_DSHOT 1
define HAL_WITH_IO_MCU_BIDIR_DSHOT 1

2
libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
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@ -379,4 +379,4 @@ env BUILD_ABIN True
# enable support for dshot on iomcu
ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
define HAL_WITH_IO_MCU_DSHOT 1
define HAL_WITH_IO_MCU_BIDIR_DSHOT 1