fest(flysky): Flysky Gimbal 2.0 Sync Sampling Support #5869
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richardclli
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raphaelcoeffic
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Mar 10, 2025
| @@ -58,8 +66,21 @@ static const etx_serial_port_t _fs_gimbal_serial_port = { | |||
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| static STRUCT_HALL HallProtocol = { 0 }; | |||
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| static uint8_t _fs_hall_command[8] __DMA; | |||
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DEFINE_STM32_SERIAL_PORT() already provides for TX DMA buffers in the last parameter. Please use that instead. This will declare the buffer with the proper memory type (here __DMA_NO_CACHE), which is important for H7 targets.
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| // Need to put all in a group to ensure DMA transfer will not affect ADC sampling | ||
| #if defined(FLYSKY_GIMBAL) && !defined(SIMU) | ||
| flysky_gimbal_start_read(); | ||
| #endif | ||
| #if defined(FLYSKY_GIMBAL) && !defined(SIMU) | ||
| flysky_gimbal_wait_completion(); | ||
| #endif | ||
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Ideally, this should be encapsulated in a way that does not require conditional compilation (no #if defined(...)). One way would be craft a special ADC driver, or providing new hooks, either in the mixer and/or in generic ADC code.
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| if(_fs_gimbal_detected && _fs_gimbal_version > GIMBAL_V1 && _fs_gimbal_mode != V1_MODE) { | ||
| auto timeout = timersGetUsTick(); | ||
| while(!_fs_gimbal_cmd_finished) { | ||
| // busy wait | ||
| if ((uint32_t)(timersGetUsTick() - timeout) >= SAMPLING_TIMEOUT_US) { | ||
| // TRACE("Gimbal timeout"); | ||
| return; | ||
| } | ||
| } | ||
| } |
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We should really prevent busy waits in mixer task. This will add additional time during which the mixer is hogging the MCU and preventing other tasks to run.
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Flysky works out a new version of firmware that can support sync sampling:
The gimbal driver changes:
Testing: