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Code Issues Releases Activity

Merge branch 'amorale/OP-1685_various_fixes' into test-oneshot

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This commit is contained in:
abeck70 2015-02-23 16:47:12 +11:00
commit 0cd7e20425
4 changed files with 29 additions and 30 deletions
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43
flight/modules/Actuator/actuator.c
View File

@ -774,37 +774,28 @@ static void actuator_update_rate_if_changed(const ActuatorSettingsData *actuator
{
static uint16_t prevBankUpdateFreq[ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM];
static uint8_t prevBankMode[ACTUATORSETTINGS_BANKMODE_NUMELEM];
bool updateMode = force_update || (memcmp(prevBankMode, actuatorSettings->BankMode, sizeof(prevBankMode)) != 0);
bool updateFreq = force_update || (memcmp(prevBankUpdateFreq, actuatorSettings->BankUpdateFreq, sizeof(prevBankUpdateFreq)) != 0);
// check if the any rate setting is changed
if (force_update ||
(memcmp(prevBankUpdateFreq,
actuatorSettings->BankUpdateFreq,
sizeof(prevBankUpdateFreq)) != 0) ||
(memcmp(prevBankUpdateFreq,
actuatorSettings->BankMode,
sizeof(prevBankMode)) != 0)
) {
// check if any setting is changed
if (updateMode || updateFreq) {
/* Something has changed, apply the settings to HW */
memcpy(prevBankUpdateFreq,
actuatorSettings->BankUpdateFreq,
sizeof(prevBankUpdateFreq));
memcpy(prevBankMode,
actuatorSettings->BankMode,
sizeof(prevBankMode));
uint16_t freq[ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM];
uint32_t clock[ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM] = { 0 };
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
PIOS_Servo_SetBankMode(i,
actuatorSettings->BankMode[i] ==
ACTUATORSETTINGS_BANKMODE_PWM ?
PIOS_SERVO_BANK_MODE_PWM :
PIOS_SERVO_BANK_MODE_SINGLE_PULSE
);
if (force_update || (actuatorSettings->BankMode[i] != prevBankMode[i])) {
PIOS_Servo_SetBankMode(i,
actuatorSettings->BankMode[i] ==
ACTUATORSETTINGS_BANKMODE_PWM ?
PIOS_SERVO_BANK_MODE_PWM :
PIOS_SERVO_BANK_MODE_SINGLE_PULSE
);
}
switch (actuatorSettings->BankMode[i]) {
case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
freq[i] = 100; // Value must be small enough so CCr isn't update until the PIOS_Servo_Update is triggered
clock[i] = ACTUATOR_ONESHOT125_CLOCK; // Setup an 8MHz timer clock
clock[i] = ACTUATOR_ONESHOT125_CLOCK; // Setup an 2MHz timer clock
break;
case ACTUATORSETTINGS_BANKMODE_PWMSYNC:
freq[i] = 100;
@ -816,8 +807,16 @@ static void actuator_update_rate_if_changed(const ActuatorSettingsData *actuator
break;
}
}
memcpy(prevBankMode,
actuatorSettings->BankMode,
sizeof(prevBankMode));
PIOS_Servo_SetHz(freq, clock, ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM);
memcpy(prevBankUpdateFreq,
actuatorSettings->BankUpdateFreq,
sizeof(prevBankUpdateFreq));
// retrieve mode from related bank
for (uint8_t i = 0; i < MAX_MIX_ACTUATORS; i++) {
uint8_t bank = PIOS_Servo_GetPinBank(i);

2
flight/targets/boards/coptercontrol/board_hw_defs.c
View File

@ -1247,7 +1247,7 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
.num_channels = 1,
};
const struct pios_ppm_cfg pios_ppm_pin6_cfg = {
const struct pios_ppm_cfg pios_ppm_pin8_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,

12
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -746,12 +746,12 @@ void PIOS_Board_Init(void)
break;
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
if (hwsettings_rcvrport == HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT) {
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_pin6_cfg);
if (hwsettings_rcvrport == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT) {
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_pin8_cfg);
} else {
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
}
@ -815,7 +815,7 @@ void PIOS_Board_Init(void)
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
PIOS_Servo_Init(&pios_servo_cfg);
break;
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
@ -881,8 +881,8 @@ SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
// Those modes allows oneshot usage
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
case HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT:
if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN6ONESHOT ||
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT ||
flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
(modes[3] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125)) {

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="HwSettings" singleinstance="true" settings="true" category="System">
<description>Selection of optional hardware configurations.</description>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled+OneShot,PWM+NoOneShot,PPM+NoOneShot,PPM+PWM+NoOneShot,PPM+Outputs+NoOneShot,PPM_PIN6+OneShot, Outputs+OneShot" defaultvalue="PWM+NoOneShot"/>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled+OneShot,PWM+NoOneShot,PPM+NoOneShot,PPM+PWM+NoOneShot,PPM+Outputs+NoOneShot,PPM_PIN8+OneShot, Outputs+OneShot" defaultvalue="PWM+NoOneShot"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Telemetry"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,PPM,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>