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AP_HAL_ChibiOS: add support for alternate alarm PWM group

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account for inverted alarms and build on boards without PWM
enable alarm based on pwm
shutdown alarm channel if using a different one
This commit is contained in:
Andy Piper authored and Andrew Tridgell committed 2022-02-23 18:35:43 +11:00
1 parent f840315aa4
commit b6022ca5d4
4 files changed
+48 -11
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libraries/AP_HAL_ChibiOS/RCOutput.cpp
+13
View File
@@ -22,6 +22,7 @@
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_HAL/utility/RingBuffer.h>
#include "GPIO.h"
#include "Util.h"
#include "hwdef/common/stm32_util.h"
#include "hwdef/common/watchdog.h"
#include <AP_InternalError/AP_InternalError.h>
@@ -80,6 +81,18 @@ void RCOutput::init()
uint8_t chan = group.chan[j];
if (SRV_Channels::is_GPIO(chan+chan_offset)) {
group.chan[j] = CHAN_DISABLED;
} else if (SRV_Channels::is_alarm(chan+chan_offset)
|| SRV_Channels::is_alarm_inverted(chan+chan_offset)) {
// alarm takes the whole timer
group.ch_mask = 0;
group.current_mode = MODE_PWM_NONE;
for (uint8_t k = 0; k < 4; k++) {
group.chan[k] = CHAN_DISABLED;
group.pwm_cfg.channels[k].mode = PWM_OUTPUT_DISABLED;
}
ChibiOS::Util::from(hal.util)->toneAlarm_init(group.pwm_cfg, group.pwm_drv, j,
SRV_Channels::is_alarm(chan+chan_offset));
break;
}
#endif
if (group.chan[j] != CHAN_DISABLED) {