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Code Issues Releases Activity

LP-233 Add MultiShot 5 - 25µs pulses

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This commit is contained in:
Laurent Lalanne 2016-05-02 20:22:05 +02:00
parent 2bda2e2901
commit 214ae849a2
4 changed files with 13 additions and 4 deletions
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6
flight/modules/Actuator/actuator.c
View File

@ -78,6 +78,7 @@ static int8_t counter;
#define ACTUATOR_ONESHOT_CLOCK 12000000
#define ACTUATOR_ONESHOT125_PULSE_FACTOR 1.5f
#define ACTUATOR_ONESHOT42_PULSE_FACTOR 0.5f
#define ACTUATOR_MULTISHOT_PULSE_FACTOR 0.24f
#define ACTUATOR_PWM_CLOCK 1000000
// Private types
@ -946,6 +947,10 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value)
// Remap 1000-2000 range to 41,666-83,333µs
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value * ACTUATOR_ONESHOT42_PULSE_FACTOR);
break;
case ACTUATORSETTINGS_BANKMODE_MULTISHOT:
// Remap 1000-2000 range to 5-25µs
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], (value * ACTUATOR_MULTISHOT_PULSE_FACTOR) - 180);
break;
default:
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value);
break;
@ -997,6 +1002,7 @@ static void actuator_update_rate_if_changed(bool force_update)
switch (actuatorSettings.BankMode[i]) {
case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
case ACTUATORSETTINGS_BANKMODE_ONESHOT42:
case ACTUATORSETTINGS_BANKMODE_MULTISHOT:
freq[i] = 100; // Value must be small enough so CCr isn't update until the PIOS_Servo_Update is triggered
clock[i] = ACTUATOR_ONESHOT_CLOCK; // Setup an 12MHz timer clock
break;

6
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -955,7 +955,8 @@ SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
(modes[3] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT42)) {
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT42 ||
modes[3] == ACTUATORSETTINGS_BANKMODE_MULTISHOT)) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
} else {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
@ -969,7 +970,8 @@ SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42) {
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42 ||
modes[i] == ACTUATORSETTINGS_BANKMODE_MULTISHOT) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}

3
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -894,7 +894,8 @@ SystemAlarmsExtendedAlarmStatusOptions RevoNanoConfigHook()
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42) {
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42 ||
modes[i] == ACTUATORSETTINGS_BANKMODE_MULTISHOT) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}
}

2
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -2,7 +2,7 @@
<object name="ActuatorSettings" singleinstance="true" settings="true" category="Control">
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="BankUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,PWMSync,OneShot125,OneShot42" defaultvalue="PWM"/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,PWMSync,OneShot125,OneShot42,MultiShot" defaultvalue="PWM"/>
<field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>