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AP_HAL_ChibiOS: NFC refactor of dshot/bdshot in preparation for bdsho…
…t on iomcu
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| /* | ||
| * This file is free software: you can redistribute it and/or modify it | ||
| * under the terms of the GNU General Public License as published by the | ||
| * Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * This file is distributed in the hope that it will be useful, but | ||
| * WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. | ||
| * See the GNU General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU General Public License along | ||
| * with this program. If not, see <http://www.gnu.org/licenses/>. | ||
| * | ||
| * Code by Andy Piper and Siddharth Bharat Purohit | ||
| * | ||
| * There really is no dshot reference. For information try these resources: | ||
| * https://blck.mn/2016/11/dshot-the-new-kid-on-the-block/ | ||
| * https://www.swallenhardware.io/battlebots/2019/4/20/a-developers-guide-to-dshot-escs | ||
| */ | ||
|
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| #include <hal.h> | ||
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| #if defined(IOMCU_FW) && HAL_DSHOT_ENABLED | ||
| // need to give the little guy as much help as possible | ||
| #pragma GCC optimize("O2") | ||
|
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| #include "RCOutput.h" | ||
| #include <AP_Math/AP_Math.h> | ||
| #include "GPIO.h" | ||
| #include "Scheduler.h" | ||
|
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| #if HAL_USE_PWM == TRUE | ||
|
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| using namespace ChibiOS; | ||
|
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| extern const AP_HAL::HAL& hal; | ||
|
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| THD_WORKING_AREA(dshot_thread_wa, 64); | ||
| void RCOutput::timer_tick() | ||
| { | ||
| if (dshot_timer_setup) { | ||
| return; | ||
| } | ||
|
|
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| bool dshot_enabled = false; | ||
| for (uint8_t i = 0; i < NUM_GROUPS; i++ ) { | ||
| pwm_group &group = pwm_group_list[i]; | ||
| if (is_dshot_protocol(group.current_mode)) { | ||
| dshot_enabled = true; | ||
| break; | ||
| } | ||
| } | ||
| if (!dshot_timer_setup && dshot_enabled) { | ||
| chThdCreateStatic(dshot_thread_wa, sizeof(dshot_thread_wa), | ||
| APM_RCOUT_PRIORITY, &RCOutput::dshot_send_trampoline, this); | ||
| dshot_timer_setup = true; | ||
| } | ||
| } | ||
|
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| void RCOutput::dshot_send_trampoline(void *p) | ||
| { | ||
| RCOutput *rcout = (RCOutput *)p; | ||
| rcout->rcout_thread(); | ||
| } | ||
|
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| /* | ||
| thread for handling RCOutput send on IOMCU | ||
| */ | ||
| void RCOutput::rcout_thread() { | ||
| // don't start outputting until fully configured | ||
| while (!hal.scheduler->is_system_initialized()) { | ||
| hal.scheduler->delay_microseconds(1000); | ||
| } | ||
|
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| rcout_thread_ctx = chThdGetSelfX(); | ||
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| while (true) { | ||
| chEvtWaitOne(EVT_PWM_SEND | EVT_PWM_SYNTHETIC_SEND); | ||
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| // this is when the cycle is supposed to start | ||
| if (_dshot_cycle == 0) { | ||
| // register a timer for the next tick if push() will not be providing it | ||
| if (_dshot_rate != 1) { | ||
| chVTSet(&_dshot_rate_timer, chTimeUS2I(_dshot_period_us), dshot_update_tick, this); | ||
| } | ||
| } | ||
|
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| // main thread requested a new dshot send or we timed out - if we are not running | ||
| // as a multiple of loop rate then ignore EVT_PWM_SEND events to preserve periodicity | ||
| dshot_send_groups(0); | ||
| #if AP_HAL_SHARED_DMA_ENABLED | ||
| dshot_collect_dma_locks(0); | ||
| #endif | ||
| if (_dshot_rate > 0) { | ||
| _dshot_cycle = (_dshot_cycle + 1) % _dshot_rate; | ||
| } | ||
| } | ||
| } | ||
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| #endif // HAL_USE_PWM | ||
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| #endif // IOMCU_FW && HAL_DSHOT_ENABLED |