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SRV_Channel: initialize BLHeli

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make sure digital output settinsg are preserved
add accessor for digital outputs
This commit is contained in:
Andy Piper 2021-05-01 16:39:32 +01:00 committed by Andrew Tridgell
parent ef18b9f943
commit db85df1051
3 changed files with 41 additions and 20 deletions
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11
libraries/SRV_Channel/SRV_Channel.h
View File

@ -505,14 +505,13 @@ public:
static void set_disabled_channel_mask(uint16_t mask) { disabled_mask = mask; }
// add to mask of outputs which can do reverse thrust using digital controls
static void set_reversible_mask(uint16_t mask) {
reversible_mask |= mask;
}
static void set_reversible_mask(uint16_t mask);
// add to mask of outputs which use digital (non-PWM) output, such as DShot
static void set_digital_mask(uint16_t mask) {
digital_mask |= mask;
}
static void set_digital_mask(uint16_t mask);
// return true if all of the outputs in mask are digital
static bool have_digital_outputs(uint16_t mask) { return mask != 0 && (mask & digital_mask) == mask; }
// Set E - stop
static void set_emergency_stop(bool state) {

46
libraries/SRV_Channel/SRV_Channel_aux.cpp
View File

@ -219,17 +219,39 @@ void SRV_Channels::enable_aux_servos()
c.set_output_pwm(c.servo_max);
c.output_ch();
}
}
/*
for channels which have been marked as digital output then the
MIN/MAX/TRIM values have no meaning for controlling output, as
the HAL handles the scaling. We still need to cope with places
in the code that may try to set a PWM value however, so to
ensure consistency we force the MIN/MAX/TRIM to be consistent
across all digital channels. We use a MIN/MAX of 1000/2000, and
set TRIM to either 1000 or 1500 depending on whether the channel
is reversible
*/
#if HAL_SUPPORT_RCOUT_SERIAL
blheli_ptr->update();
#endif
}
// add to mask of outputs which can do reverse thrust using digital controls
// digital mask must have been set first
void SRV_Channels::set_reversible_mask(uint16_t mask) {
reversible_mask |= mask;
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel &c = channels[i];
if ((digital_mask & (1U<<i)) && (reversible_mask & (1U<<i))) {
c.servo_trim.set(1500);
}
}
}
/*
for channels which have been marked as digital output then the
MIN/MAX/TRIM values have no meaning for controlling output, as
the HAL handles the scaling. We still need to cope with places
in the code that may try to set a PWM value however, so to
ensure consistency we force the MIN/MAX/TRIM to be consistent
across all digital channels. We use a MIN/MAX of 1000/2000, and
set TRIM to either 1000 or 1500 depending on whether the channel
is reversible
*/
void SRV_Channels::set_digital_mask(uint16_t mask) {
digital_mask |= mask;
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel &c = channels[i];
if (digital_mask & (1U<<i)) {
c.servo_min.set(1000);
c.servo_max.set(2000);
@ -240,10 +262,6 @@ void SRV_Channels::enable_aux_servos()
}
}
}
#if HAL_SUPPORT_RCOUT_SERIAL
blheli_ptr->update();
#endif
}
/// enable output channels using a channel mask

4
libraries/SRV_Channel/SRV_Channels.cpp
View File

@ -245,6 +245,10 @@ SRV_Channels::SRV_Channels(void)
// SRV_Channels initialization
void SRV_Channels::init(void)
{
// initialize BLHeli late so that all of the masks it might setup don't get trodden on by motor initialization
#if HAL_SUPPORT_RCOUT_SERIAL
blheli_ptr->init();
#endif
hal.rcout->set_dshot_rate(_singleton->dshot_rate, AP::scheduler().get_loop_rate_hz());
}