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AP_HAL_ChibiOS: more changes for 32 bit servo mask

apm_2208
Andrew Tridgell 3 years ago
parent
d33734ee85
commit
1d9abefbb1
4 changed files with 9 additions and 9 deletions
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  1. 12
      libraries/AP_HAL_ChibiOS/RCOutput.cpp
  2. 2
      libraries/AP_HAL_ChibiOS/RCOutput.h
  3. 2
      libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
  4. 2
      libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp

12
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -500,10 +500,10 @@ RCOutput::pwm_group *RCOutput::find_chan(uint8_t chan, uint8_t &group_idx)
/* /*
* return mask of channels that must be disabled because they share a group with a digital channel * return mask of channels that must be disabled because they share a group with a digital channel
*/ */
uint16_t RCOutput::get_disabled_channels(uint16_t digital_mask) uint32_t RCOutput::get_disabled_channels(uint32_t digital_mask)
{ {
uint16_t dmask = (digital_mask >> chan_offset); uint32_t dmask = (digital_mask >> chan_offset);
uint16_t disabled_chan_mask = 0; uint32_t disabled_chan_mask = 0;
for (auto &group : pwm_group_list) { for (auto &group : pwm_group_list) {
bool digital_group = false; bool digital_group = false;
for (uint8_t j = 0; j < 4; j++) { for (uint8_t j = 0; j < 4; j++) {
@ -615,7 +615,7 @@ void RCOutput::push_local(void)
if (active_fmu_channels == 0) { if (active_fmu_channels == 0) {
return; return;
} }
uint16_t outmask = (1U<<active_fmu_channels)-1; uint32_t outmask = (1U<<active_fmu_channels)-1;
outmask &= en_mask; outmask &= en_mask;
uint16_t widest_pulse = 0; uint16_t widest_pulse = 0;
@ -1383,7 +1383,7 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
// assume that we won't be able to get the input capture lock // assume that we won't be able to get the input capture lock
group.bdshot.enabled = false; group.bdshot.enabled = false;
uint16_t active_channels = group.ch_mask & group.en_mask; uint32_t active_channels = group.ch_mask & group.en_mask;
// now grab the input capture lock if we are able, we can only enable bi-dir on a group basis // now grab the input capture lock if we are able, we can only enable bi-dir on a group basis
if (((_bdshot.mask & active_channels) == active_channels) && group.has_ic()) { if (((_bdshot.mask & active_channels) == active_channels) && group.has_ic()) {
if (group.has_shared_ic_up_dma()) { if (group.has_shared_ic_up_dma()) {
@ -1456,7 +1456,7 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
continue; continue;
} }
const uint16_t chan_mask = (1U<<chan); const uint32_t chan_mask = (1U<<chan);
pwm = constrain_int16(pwm, 1000, 2000); pwm = constrain_int16(pwm, 1000, 2000);
uint16_t value = MIN(2 * (pwm - 1000), 1999); uint16_t value = MIN(2 * (pwm - 1000), 1999);

2
libraries/AP_HAL_ChibiOS/RCOutput.h
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@ -74,7 +74,7 @@ public:
/* /*
* return mask of channels that must be disabled because they share a group with a digital channel * return mask of channels that must be disabled because they share a group with a digital channel
*/ */
uint16_t get_disabled_channels(uint16_t digital_mask) override; uint32_t get_disabled_channels(uint32_t digital_mask) override;
float scale_esc_to_unity(uint16_t pwm) override { float scale_esc_to_unity(uint16_t pwm) override {
return 2.0 * ((float) pwm - _esc_pwm_min) / (_esc_pwm_max - _esc_pwm_min) - 1.0; return 2.0 * ((float) pwm - _esc_pwm_min) / (_esc_pwm_max - _esc_pwm_min) - 1.0;

2
libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
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@ -41,7 +41,7 @@ extern const AP_HAL::HAL& hal;
* enable bi-directional telemetry request for a mask of channels. This is used * enable bi-directional telemetry request for a mask of channels. This is used
* with DShot to get telemetry feedback * with DShot to get telemetry feedback
*/ */
void RCOutput::set_bidir_dshot_mask(uint16_t mask) void RCOutput::set_bidir_dshot_mask(uint32_t mask)
{ {
_bdshot.mask = (mask >> chan_offset); _bdshot.mask = (mask >> chan_offset);
// we now need to reconfigure the DMA channels since they are affected by the value of the mask // we now need to reconfigure the DMA channels since they are affected by the value of the mask

2
libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
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@ -50,7 +50,7 @@ bool RCOutput::dshot_send_command(pwm_group& group, uint8_t command, uint8_t cha
group.dshot_waiter = rcout_thread_ctx; group.dshot_waiter = rcout_thread_ctx;
bool bdshot_telem = false; bool bdshot_telem = false;
#ifdef HAL_WITH_BIDIR_DSHOT #ifdef HAL_WITH_BIDIR_DSHOT
uint16_t active_channels = group.ch_mask & group.en_mask; uint32_t active_channels = group.ch_mask & group.en_mask;
// no need to get the input capture lock // no need to get the input capture lock
group.bdshot.enabled = false; group.bdshot.enabled = false;
if ((_bdshot.mask & active_channels) == active_channels) { if ((_bdshot.mask & active_channels) == active_channels) {

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