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AP_HAL_ChibiOS: fix ESCs constantly arming on rover with dshot commands

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make sure debug will compile
take into account active channels when configuring bdshot
add channel mask debug output
correct set bdshot telemetry position at startup
make sure all channels in a bdshot group are pulled high to prevent spurious pulses
This commit is contained in:
Andy Piper
2022-03-29 10:29:31 +11:00
committed by Peter Barker
parent abb0bf34d2
commit 4fa0e275fd
3 changed files with 50 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
+18 -11
View File
@@ -62,18 +62,12 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
return true;
}
bool set_curr_chan = false;
// allocate input capture DMA handles
for (uint8_t i = 0; i < 4; i++) {
if (!group.is_chan_enabled(i) ||
!group.dma_ch[i].have_dma || !(_bdshot.mask & (1 << group.chan[i]))) {
continue;
}
// make sure we don't start on a disabled channel
if (!set_curr_chan) {
group.bdshot.curr_telem_chan = i;
set_curr_chan = true;
}
pwmmode_t mode = group.pwm_cfg.channels[i].mode;
if (mode == PWM_COMPLEMENTARY_OUTPUT_ACTIVE_LOW ||
mode == PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH) {
@@ -99,6 +93,15 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
// We might need to do sharing of timers for telemetry feedback
// due to lack of available DMA channels
for (uint8_t i = 0; i < 4; i++) {
// we must pull all the allocated channels high to prevent them going low
// when the pwm peripheral is stopped
if (group.chan[i] != CHAN_DISABLED && _bdshot.mask & group.ch_mask) {
// bi-directional dshot requires less than MID2 speed and PUSHPULL in order to avoid noise on the line
// when switching from output to input
palSetLineMode(group.pal_lines[i], PAL_MODE_ALTERNATE(group.alt_functions[i])
| PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_PUPDR_PULLUP | PAL_STM32_OSPEED_MID1);
}
if (!group.is_chan_enabled(i) || !(_bdshot.mask & (1 << group.chan[i]))) {
continue;
}
@@ -137,10 +140,14 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
group.bdshot.telem_tim_ch[i] = curr_chan;
group.dma_ch[i] = group.dma_ch[curr_chan];
}
// bi-directional dshot requires less than MID2 speed and PUSHPULL in order to avoid noise on the line
// when switching from output to input
palSetLineMode(group.pal_lines[i], PAL_MODE_ALTERNATE(group.alt_functions[i])
| PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_PUPDR_PULLUP | PAL_STM32_OSPEED_MID1);
}
// now allocate the starting channel
for (uint8_t i = 0; i < 4; i++) {
if (group.chan[i] != CHAN_DISABLED && group.bdshot.ic_dma_handle[i] != nullptr) {
group.bdshot.curr_telem_chan = i;
break;
}
}
return true;