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Fix iofirmware pwm structure sizes to support SBUS_OUT #26825

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merged 2 commits into from
Apr 17, 2024
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Merged

Fix iofirmware pwm structure sizes to support SBUS_OUT #26825

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75b6fd7
AP_IOMCU: account for possibility of SBUS_OUT in PWM structures
andyp1per Apr 16, 2024
6096adb
IO_Firmware: update iofirmare for SBUS_OUT
andyp1per Apr 16, 2024
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Binary file modified Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
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4 changes: 2 additions & 2 deletions libraries/AP_IOMCU/AP_IOMCU.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -346,7 +346,7 @@ void AP_IOMCU::thread_main(void)
// update failsafe pwm
if (pwm_out.failsafe_pwm_set != pwm_out.failsafe_pwm_sent) {
uint8_t set = pwm_out.failsafe_pwm_set;
if (write_registers(PAGE_FAILSAFE_PWM, 0, IOMCU_MAX_CHANNELS, pwm_out.failsafe_pwm)) {
if (write_registers(PAGE_FAILSAFE_PWM, 0, IOMCU_MAX_RC_CHANNELS, pwm_out.failsafe_pwm)) {
pwm_out.failsafe_pwm_sent = set;
}
}
Expand All @@ -372,7 +372,7 @@ void AP_IOMCU::send_servo_out()
if (rate.sbus_rate_hz == 0) {
n = MIN(n, 8);
} else {
n = MIN(n, IOMCU_MAX_CHANNELS);
n = MIN(n, IOMCU_MAX_RC_CHANNELS);
}
uint32_t now = AP_HAL::micros();
if (now - last_servo_out_us >= 2000 || AP_BoardConfig::io_dshot()) {
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2 changes: 1 addition & 1 deletion libraries/AP_IOMCU/iofirmware/iofirmware.cpp
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Expand Up @@ -966,7 +966,7 @@ bool AP_IOMCU_FW::handle_code_write()
}
/* copy channel data */
uint16_t i = 0, num_values = rx_io_packet.count;
while ((i < IOMCU_MAX_CHANNELS) && (num_values > 0)) {
while ((i < IOMCU_MAX_RC_CHANNELS) && (num_values > 0)) {
/* XXX range-check value? */
if (rx_io_packet.regs[i] != PWM_IGNORE_THIS_CHANNEL) {
reg_direct_pwm.pwm[i] = rx_io_packet.regs[i];
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6 changes: 3 additions & 3 deletions libraries/AP_IOMCU/iofirmware/iofirmware.h
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Expand Up @@ -93,17 +93,17 @@ class AP_IOMCU_FW {

// PAGE_SERVO values
struct {
uint16_t pwm[IOMCU_MAX_CHANNELS];
uint16_t pwm[IOMCU_MAX_RC_CHANNELS]; // size has to account for virtual channels via SBUS_OUT
} reg_servo;

// PAGE_DIRECT_PWM values
struct {
uint16_t pwm[IOMCU_MAX_CHANNELS];
uint16_t pwm[IOMCU_MAX_RC_CHANNELS];
} reg_direct_pwm;

// PAGE_FAILSAFE_PWM
struct {
uint16_t pwm[IOMCU_MAX_CHANNELS];
uint16_t pwm[IOMCU_MAX_RC_CHANNELS];
} reg_failsafe_pwm;

// output rates
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