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AP_HAL_ChibiOS: RCOutput: print DMA alocation errors

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Iampete1 2021-03-24 18:52:39 +00:00 committed by Andrew Tridgell
parent 15509f314c
commit ec90ab13f4
2 changed files with 32 additions and 2 deletions
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31
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -24,7 +24,9 @@
#include "hwdef/common/watchdog.h"
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#ifndef HAL_NO_UARTDRIVER
#include <GCS_MAVLink/GCS.h>
#endif
#if HAL_USE_PWM == TRUE
using namespace ChibiOS;
@ -712,6 +714,29 @@ bool RCOutput::mode_requires_dma(enum output_mode mode) const
#endif //#ifdef DISABLE_DSHOT
}
void RCOutput::print_group_setup_error(pwm_group &group, const char* error_string)
{
#ifndef HAL_NO_UARTDRIVER
uint8_t min_chan = UINT8_MAX;
uint8_t max_chan = 0;
for (uint8_t j = 0; j < 4; j++) {
uint8_t chan = group.chan[j];
if (chan == CHAN_DISABLED) {
continue;
}
chan += chan_offset;
min_chan = MIN(min_chan,chan);
max_chan = MAX(max_chan,chan);
}
if (min_chan == max_chan) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Chan %i, %s: %s",min_chan+1,get_output_mode_string(group.current_mode),error_string);
} else {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Chan %i to %i, %s: %s",min_chan+1,max_chan+1,get_output_mode_string(group.current_mode),error_string);
}
#endif
}
/*
setup a group for DMA output at a given bitrate. The bit_width is
the value for a pulse width in the DMA buffer for a full bit.
@ -728,6 +753,7 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_
FUNCTOR_BIND_MEMBER(&RCOutput::dma_allocate, void, Shared_DMA *),
FUNCTOR_BIND_MEMBER(&RCOutput::dma_deallocate, void, Shared_DMA *));
if (!group.dma_handle) {
print_group_setup_error(group, "failed to allocate DMA");
return false;
}
}
@ -742,6 +768,7 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_
group.dma_buffer = (uint32_t *)hal.util->malloc_type(buffer_length, AP_HAL::Util::MEM_DMA_SAFE);
if (!group.dma_buffer) {
group.dma_handle->unlock();
print_group_setup_error(group, "failed to allocate DMA buffer");
return false;
}
group.dma_buffer_len = buffer_length;
@ -775,6 +802,7 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_
}
if (prescaler > 0x8000) {
group.dma_handle->unlock();
print_group_setup_error(group, "failed to match clock speed");
return false;
}
@ -934,6 +962,7 @@ void RCOutput::set_output_mode(uint16_t mask, const enum output_mode mode)
continue;
}
if (mode_requires_dma(thismode) && !group.have_up_dma) {
print_group_setup_error(group, "failed, no DMA");
thismode = MODE_PWM_NORMAL;
}
if (mode > MODE_PWM_NORMAL) {

3
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -510,11 +510,12 @@ private:
void dma_cancel(pwm_group& group);
bool mode_requires_dma(enum output_mode mode) const;
bool setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_width, bool active_high,
const uint16_t buffer_length, bool choose_high, uint32_t pulse_time_us);
const uint16_t buffer_length, bool choose_high, uint32_t pulse_time_us);
void send_pulses_DMAR(pwm_group &group, uint32_t buffer_length);
void set_group_mode(pwm_group &group);
static bool is_dshot_protocol(const enum output_mode mode);
static uint32_t protocol_bitrate(const enum output_mode mode);
void print_group_setup_error(pwm_group &group, const char* error_string);
/*
Support for bi-direction dshot