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FIX: AT32 not reading ESC (#14220)

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Jay Blackman 2025-01-31 06:54:23 +11:00 • committed by GitHub
parent bfea69a04f
commit 3dba5e65e4
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GPG key ID: B5690EEEBB952194
13 changed files with 75 additions and 82 deletions
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3
src/platform/AT32/dshot_bitbang.c
View file

@ -583,7 +583,7 @@ static void bbUpdateComplete(void)
}
#ifdef USE_DSHOT_CACHE_MGMT
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < dshotMotorCount; motorIndex++) {
// Only clean each buffer once. If all motors are on a common port they'll share a buffer.
bool clean = false;
for (int i = 0; i < motorIndex; i++) {
@ -677,6 +677,7 @@ static motorVTable_t bbVTable = {
.shutdown = bbShutdown,
.isMotorIdle = bbDshotIsMotorIdle,
.requestTelemetry = bbDshotRequestTelemetry,
.getMotorIO = bbGetMotorIO,
};
dshotBitbangStatus_e dshotBitbangGetStatus(void)

12
src/platform/AT32/io_at32.c
View file

@ -122,16 +122,6 @@ void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af)
return;
}
const rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc;
RCC_ClockCmd(rcc, ENABLE);
gpio_init_type init = {
.gpio_pins = IO_Pin(io),
.gpio_mode = (cfg >> 0) & 0x03,
.gpio_drive_strength = (cfg >> 2) & 0x03,
.gpio_out_type = (cfg >> 4) & 0x01,
.gpio_pull = (cfg >> 5) & 0x03,
};
gpio_init(IO_GPIO(io), &init);
IOConfigGPIO(io, cfg);
gpio_pin_mux_config(IO_GPIO(io), IO_GPIO_PinSource(io), af);
}

34
src/platform/AT32/pwm_output_at32bsp.c
View file

@ -81,15 +81,15 @@ static FAST_DATA_ZERO_INIT motorDevice_t *pwmMotorDevice;
static void pwmWriteStandard(uint8_t index, float value)
{
/* TODO: move value to be a number between 0-1 (i.e. percent throttle from mixer) */
*motors[index].channel.ccr = lrintf((value * motors[index].pulseScale) + motors[index].pulseOffset);
*pwmMotors[index].channel.ccr = lrintf((value * pwmMotors[index].pulseScale) + pwmMotors[index].pulseOffset);
}
static void pwmShutdownPulsesForAllMotors(void)
{
for (int index = 0; index < pwmMotorCount; index++) {
// Set the compare register to 0, which stops the output pulsing if the timer overflows
if (motors[index].channel.ccr) {
*motors[index].channel.ccr = 0;
if (pwmMotors[index].channel.ccr) {
*pwmMotors[index].channel.ccr = 0;
}
}
}
@ -108,12 +108,12 @@ static void pwmCompleteMotorUpdate(void)
}
for (int index = 0; index < pwmMotorCount; index++) {
if (motors[index].forceOverflow) {
timerForceOverflow(motors[index].channel.tim);
if (pwmMotors[index].forceOverflow) {
timerForceOverflow(pwmMotors[index].channel.tim);
}
// Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
// This compare register will be set to the output value on the next main loop.
*motors[index].channel.ccr = 0;
*pwmMotors[index].channel.ccr = 0;
}
}
@ -145,7 +145,7 @@ static motorVTable_t motorPwmVTable = {
bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig, uint16_t idlePulse)
{
memset(motors, 0, sizeof(motors));
memset(pwmMotors, 0, sizeof(pwmMotors));
if (!device) {
return false;
@ -198,10 +198,10 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
return false;
}
motors[motorIndex].io = IOGetByTag(tag);
IOInit(motors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
pwmMotors[motorIndex].io = IOGetByTag(tag);
IOInit(pwmMotors[motorIndex].io, OWNER_MOTOR, RESOURCE_INDEX(reorderedMotorIndex));
IOConfigGPIOAF(motors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction);
IOConfigGPIOAF(pwmMotors[motorIndex].io, IOCFG_AF_PP, timerHardware->alternateFunction);
/* standard PWM outputs */
// margin of safety is 4 periods when unsynced
@ -218,27 +218,27 @@ bool motorPwmDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig,
TODO: this can be moved back to periodMin and periodLen
once mixer outputs a 0..1 float value.
*/
motors[motorIndex].pulseScale = ((motorConfig->motorProtocol == MOTOR_PROTOCOL_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
motors[motorIndex].pulseOffset = (sMin * hz) - (motors[motorIndex].pulseScale * 1000);
pwmMotors[motorIndex].pulseScale = ((motorConfig->motorProtocol == MOTOR_PROTOCOL_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
pwmMotors[motorIndex].pulseOffset = (sMin * hz) - (pwmMotors[motorIndex].pulseScale * 1000);
pwmOutConfig(&motors[motorIndex].channel, timerHardware, hz, period, idlePulse, motorConfig->motorInversion);
pwmOutConfig(&pwmMotors[motorIndex].channel, timerHardware, hz, period, idlePulse, motorConfig->motorInversion);
bool timerAlreadyUsed = false;
for (int i = 0; i < motorIndex; i++) {
if (motors[i].channel.tim == motors[motorIndex].channel.tim) {
if (pwmMotors[i].channel.tim == pwmMotors[motorIndex].channel.tim) {
timerAlreadyUsed = true;
break;
}
}
motors[motorIndex].forceOverflow = !timerAlreadyUsed;
motors[motorIndex].enabled = true;
pwmMotors[motorIndex].forceOverflow = !timerAlreadyUsed;
pwmMotors[motorIndex].enabled = true;
}
return true;
}
pwmOutputPort_t *pwmGetMotors(void)
{
return motors;
return pwmMotors;
}
#ifdef USE_SERVOS