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https://bitbucket.org/librepilot/librepilot.git
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actuator: factor out settings updates from main loop
This commit is contained in:
Stacey Sheldon
parent
63c167c183
commit
29ab1d8cf3
@ -65,24 +65,25 @@ static xQueueHandle queue;
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static xTaskHandle taskHandle;
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static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
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// used to inform the actuator thread that actuator update rate is changed
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static uint8_t updateRateChanged = 0;
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static volatile bool actuator_settings_updated;
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// used to inform the actuator thread that mixer settings are changed
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static volatile bool mixer_settings_updated;
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// Private functions
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static void actuatorTask(void* parameters);
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static void actuator_update_rate(UAVObjEvent *);
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static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
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static void setFailsafe();
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static void setFailsafe(const ActuatorSettingsData * actuatorSettings, const MixerSettingsData * mixerSettings);
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static float MixerCurve(const float throttle, const float* curve, uint8_t elements);
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static bool set_channel(uint8_t mixer_channel, uint16_t value);
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static void change_update_rate();
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static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings);
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static void actuator_update_rate_if_changed(const ActuatorSettingsData * actuatorSettings, bool force_update);
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static void MixerSettingsUpdatedCb(UAVObjEvent * ev);
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static void ActuatorSettingsUpdatedCb(UAVObjEvent * ev);
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float ProcessMixer(const int index, const float curve1, const float curve2,
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MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
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const MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
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const float period);
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static uint16_t lastChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM] = {0,0,0,0};
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//this structure is equivalent to the UAVObjects for one mixer.
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typedef struct {
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uint8_t type;
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@ -109,22 +110,26 @@ int32_t ActuatorStart()
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*/
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int32_t ActuatorInitialize()
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{
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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// Register for notification of changes to ActuatorSettings
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ActuatorSettingsInitialize();
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ActuatorDesiredInitialize();
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MixerSettingsInitialize();
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ActuatorCommandInitialize();
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#if defined(DIAGNOSTICS)
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MixerStatusInitialize();
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#endif
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ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
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// Listen for ExampleObject1 updates
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// Register for notification of changes to MixerSettings
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MixerSettingsInitialize();
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MixerSettingsConnectCallback(MixerSettingsUpdatedCb);
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// Listen for ActuatorDesired updates (Primary input to this module)
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ActuatorDesiredInitialize();
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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ActuatorDesiredConnectQueue(queue);
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// If settings change, update the output rate
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ActuatorSettingsConnectCallback(actuator_update_rate);
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// Primary output of this module
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ActuatorCommandInitialize();
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#if defined(DIAGNOSTICS)
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// UAVO only used for inspecting the internal status of the mixer during debug
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MixerStatusInitialize();
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#endif
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return 0;
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}
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@ -151,22 +156,25 @@ static void actuatorTask(void* parameters)
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float dT = 0.0f;
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ActuatorCommandData command;
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MixerSettingsData mixerSettings;
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ActuatorDesiredData desired;
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MixerStatusData mixerStatus;
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FlightStatusData flightStatus;
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uint8_t MotorsSpinWhileArmed;
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int16_t ChannelMax[ACTUATORCOMMAND_CHANNEL_NUMELEM];
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int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
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int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
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/* Read initial values of ActuatorSettings */
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ActuatorSettingsData actuatorSettings;
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actuator_settings_updated = false;
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ActuatorSettingsGet(&actuatorSettings);
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change_update_rate();
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/* Read initial values of MixerSettings */
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MixerSettingsData mixerSettings;
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mixer_settings_updated = false;
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MixerSettingsGet(&mixerSettings);
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float * status = (float *)&mixerStatus; //access status objects as an array of floats
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/* Force an initial configuration of the actuator update rates */
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actuator_update_rate_if_changed(&actuatorSettings, true);
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// Go to the neutral (failsafe) values until an ActuatorDesired update is received
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setFailsafe();
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setFailsafe(&actuatorSettings, &mixerSettings);
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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@ -174,17 +182,24 @@ static void actuatorTask(void* parameters)
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{
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PIOS_WDG_UpdateFlag(PIOS_WDG_ACTUATOR);
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// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
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if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
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{
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setFailsafe();
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continue;
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// Wait until the ActuatorDesired object is updated
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uint8_t rc = xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS);
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/* Process settings updated events even in timeout case so we always act on the latest settings */
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if (actuator_settings_updated) {
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actuator_settings_updated = false;
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ActuatorSettingsGet (&actuatorSettings);
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actuator_update_rate_if_changed (&actuatorSettings, false);
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}
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if (mixer_settings_updated) {
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mixer_settings_updated = false;
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MixerSettingsGet (&mixerSettings);
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}
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if(updateRateChanged!=0)
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{
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change_update_rate();
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updateRateChanged=0;
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if (rc != pdTRUE) {
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/* Update of ActuatorDesired timed out. Go to failsafe */
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setFailsafe(&actuatorSettings, &mixerSettings);
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continue;
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}
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// Check how long since last update
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@ -194,18 +209,12 @@ static void actuatorTask(void* parameters)
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lastSysTime = thisSysTime;
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FlightStatusGet(&flightStatus);
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MixerSettingsGet (&mixerSettings);
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ActuatorDesiredGet(&desired);
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ActuatorCommandGet(&command);
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#if defined(DIAGNOSTICS)
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MixerStatusGet(&mixerStatus);
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#endif
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ActuatorSettingsMotorsSpinWhileArmedGet(&MotorsSpinWhileArmed);
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ActuatorSettingsChannelMaxGet(ChannelMax);
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ActuatorSettingsChannelMinGet(ChannelMin);
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ActuatorSettingsChannelNeutralGet(ChannelNeutral);
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int nMixers = 0;
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Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type;
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for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
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@ -217,7 +226,7 @@ static void actuatorTask(void* parameters)
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}
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if((nMixers < 2) && !ActuatorCommandReadOnly()) //Nothing can fly with less than two mixers.
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{
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setFailsafe(); // So that channels like PWM buzzer keep working
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setFailsafe(&actuatorSettings, &mixerSettings); // So that channels like PWM buzzer keep working
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continue;
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}
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@ -225,7 +234,7 @@ static void actuatorTask(void* parameters)
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bool armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED;
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bool positiveThrottle = desired.Throttle >= 0.00f;
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bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
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bool spinWhileArmed = actuatorSettings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
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float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1,MIXERSETTINGS_THROTTLECURVE1_NUMELEM);
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@ -264,6 +273,8 @@ static void actuatorTask(void* parameters)
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break;
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}
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float * status = (float *)&mixerStatus; //access status objects as an array of floats
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for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
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{
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if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
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@ -337,9 +348,9 @@ static void actuatorTask(void* parameters)
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for(int i = 0; i < MAX_MIX_ACTUATORS; i++)
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command.Channel[i] = scaleChannel(status[i],
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ChannelMax[i],
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ChannelMin[i],
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ChannelNeutral[i]);
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actuatorSettings.ChannelMax[i],
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actuatorSettings.ChannelMin[i],
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actuatorSettings.ChannelNeutral[i]);
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// Store update time
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command.UpdateTime = 1000.0f*dT;
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@ -361,7 +372,7 @@ static void actuatorTask(void* parameters)
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for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
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{
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success &= set_channel(n, command.Channel[n]);
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success &= set_channel(n, command.Channel[n], &actuatorSettings);
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}
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if(!success) {
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@ -379,15 +390,18 @@ static void actuatorTask(void* parameters)
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*Process mixing for one actuator
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*/
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float ProcessMixer(const int index, const float curve1, const float curve2,
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MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
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const MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
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{
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Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
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Mixer_t * mixer = &mixers[index];
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static float lastFilteredResult[MAX_MIX_ACTUATORS];
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const Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
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const Mixer_t * mixer = &mixers[index];
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float result = (((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE1] / 128.0f) * curve1) +
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(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
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(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] / 128.0f) * desired->Roll) +
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(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH] / 128.0f) * desired->Pitch) +
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(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW] / 128.0f) * desired->Yaw);
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(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
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(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_ROLL] / 128.0f) * desired->Roll) +
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(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH] / 128.0f) * desired->Pitch) +
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(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW] / 128.0f) * desired->Yaw);
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if(mixer->type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
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{
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if(result < 0.0f) //idle throttle
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@ -501,19 +515,13 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
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/**
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* Set actuator output to the neutral values (failsafe)
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*/
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static void setFailsafe()
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static void setFailsafe(const ActuatorSettingsData * actuatorSettings, const MixerSettingsData * mixerSettings)
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{
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/* grab only the modules parts that we are going to use */
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int16_t ChannelMin[ACTUATORCOMMAND_CHANNEL_NUMELEM];
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ActuatorSettingsChannelMinGet(ChannelMin);
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int16_t ChannelNeutral[ACTUATORCOMMAND_CHANNEL_NUMELEM];
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ActuatorSettingsChannelNeutralGet(ChannelNeutral);
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/* grab only the parts that we are going to use */
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int16_t Channel[ACTUATORCOMMAND_CHANNEL_NUMELEM];
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ActuatorCommandChannelGet(Channel);
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MixerSettingsData mixerSettings;
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MixerSettingsGet (&mixerSettings);
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Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer1Type; //pointer to array of mixers in UAVObjects
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const Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer1Type; //pointer to array of mixers in UAVObjects
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// Reset ActuatorCommand to safe values
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for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
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@ -521,11 +529,11 @@ static void setFailsafe()
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if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
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{
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Channel[n] = ChannelMin[n];
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Channel[n] = actuatorSettings->ChannelMin[n];
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}
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else if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_SERVO)
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{
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Channel[n] = ChannelNeutral[n];
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Channel[n] = actuatorSettings->ChannelNeutral[n];
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}
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else
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{
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@ -541,54 +549,22 @@ static void setFailsafe()
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// Update servo outputs
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for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
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{
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set_channel(n, Channel[n]);
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set_channel(n, Channel[n], actuatorSettings);
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}
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// Update output object's parts that we changed
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ActuatorCommandChannelSet(Channel);
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}
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/**
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* @brief Update the servo update rate
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*/
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static void actuator_update_rate(UAVObjEvent * ev)
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{
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uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
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// ActuatoSettings are not changed
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if ( ev->obj != ActuatorSettingsHandle() )
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return;
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ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
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// check if the any rate setting is changed
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if (lastChannelUpdateFreq[0]!=0 && memcmp(&lastChannelUpdateFreq[0], &ChannelUpdateFreq[0], sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM) ==0)
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return;
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// signal to the actuator task that ChannelUpdateFreq are changed
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updateRateChanged = 1;
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}
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/**
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* @brief Change the update rates according to the ActuatorSettingsChannelUpdateFreq.
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*/
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static void change_update_rate()
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{
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uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
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// save the new rates
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ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
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memcpy(lastChannelUpdateFreq, ChannelUpdateFreq, sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
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PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
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}
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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static bool set_channel(uint8_t mixer_channel, uint16_t value) {
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static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
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{
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return true;
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}
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#else
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static bool set_channel(uint8_t mixer_channel, uint16_t value) {
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ActuatorSettingsData settings;
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ActuatorSettingsGet(&settings);
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switch(settings.ChannelType[mixer_channel]) {
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static bool set_channel(uint8_t mixer_channel, uint16_t value, const ActuatorSettingsData * actuatorSettings)
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{
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switch(actuatorSettings->ChannelType[mixer_channel]) {
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case ACTUATORSETTINGS_CHANNELTYPE_PWMALARMBUZZER: {
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// This is for buzzers that take a PWM input
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@ -631,18 +607,18 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
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lastSysTime = thisSysTime;
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}
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}
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PIOS_Servo_Set( settings.ChannelAddr[mixer_channel],
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buzzOn?settings.ChannelMax[mixer_channel]:settings.ChannelMin[mixer_channel]);
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PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel],
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buzzOn?actuatorSettings->ChannelMax[mixer_channel]:actuatorSettings->ChannelMin[mixer_channel]);
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return true;
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}
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case ACTUATORSETTINGS_CHANNELTYPE_PWM:
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PIOS_Servo_Set(settings.ChannelAddr[mixer_channel], value);
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PIOS_Servo_Set(actuatorSettings->ChannelAddr[mixer_channel], value);
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return true;
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#if defined(PIOS_INCLUDE_I2C_ESC)
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case ACTUATORSETTINGS_CHANNELTYPE_MK:
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return PIOS_SetMKSpeed(settings.ChannelAddr[mixer_channel],value);
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return PIOS_SetMKSpeed(actuatorSettings->ChannelAddr[mixer_channel],value);
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case ACTUATORSETTINGS_CHANNELTYPE_ASTEC4:
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return PIOS_SetAstec4Speed(settings.ChannelAddr[mixer_channel],value);
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return PIOS_SetAstec4Speed(actuatorSettings->ChannelAddr[mixer_channel],value);
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break;
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#endif
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default:
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@ -654,6 +630,35 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value) {
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}
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#endif
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/**
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* @brief Update the servo update rate
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*/
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static void actuator_update_rate_if_changed(const ActuatorSettingsData * actuatorSettings, bool force_update)
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{
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static uint16_t prevChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
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// check if the any rate setting is changed
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if (force_update ||
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memcmp (prevChannelUpdateFreq,
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actuatorSettings->ChannelUpdateFreq,
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sizeof(prevChannelUpdateFreq)) != 0) {
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/* Something has changed, apply the settings to HW */
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memcpy (prevChannelUpdateFreq,
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actuatorSettings->ChannelUpdateFreq,
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sizeof(prevChannelUpdateFreq));
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PIOS_Servo_SetHz(actuatorSettings->ChannelUpdateFreq, ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
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}
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}
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static void ActuatorSettingsUpdatedCb(UAVObjEvent * ev)
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{
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actuator_settings_updated = true;
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}
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static void MixerSettingsUpdatedCb(UAVObjEvent * ev)
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{
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mixer_settings_updated = true;
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}
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/**
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* @}
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@ -32,7 +32,7 @@
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/* Public Functions */
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extern void PIOS_Servo_Init(void);
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extern void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t num_banks);
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extern void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t num_banks);
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extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
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#endif /* PIOS_SERVO_H */
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|
||||
@ -50,7 +50,7 @@ void PIOS_Servo_Init(void)
|
||||
* \param[in] onetofour Rate for outputs 1 to 4 (Hz)
|
||||
* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
|
||||
*/
|
||||
void PIOS_Servo_SetHz(uint16_t * banks, uint8_t num_banks)
|
||||
void PIOS_Servo_SetHz(const uint16_t * banks, uint8_t num_banks)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
@ -50,7 +50,7 @@ void PIOS_Servo_Init(void)
|
||||
* \param[in] onetofour Rate for outputs 1 to 4 (Hz)
|
||||
* \param[in] fivetoeight Rate for outputs 5 to 8 (Hz)
|
||||
*/
|
||||
void PIOS_Servo_SetHz(uint16_t * banks, uint8_t num_banks)
|
||||
void PIOS_Servo_SetHz(const uint16_t * banks, uint8_t num_banks)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
@ -87,7 +87,7 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
|
||||
* \param[in] array of rates in Hz
|
||||
* \param[in] maximum number of banks
|
||||
*/
|
||||
void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
|
||||
void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t banks)
|
||||
{
|
||||
if (!servo_cfg) {
|
||||
return;
|
||||
|
||||
@ -87,7 +87,7 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg * cfg)
|
||||
* \param[in] array of rates in Hz
|
||||
* \param[in] maximum number of banks
|
||||
*/
|
||||
void PIOS_Servo_SetHz(uint16_t * speeds, uint8_t banks)
|
||||
void PIOS_Servo_SetHz(const uint16_t * speeds, uint8_t banks)
|
||||
{
|
||||
if (!servo_cfg) {
|
||||
return;
|
||||
|
||||
@ -31,7 +31,7 @@
|
||||
#define PIOS_SERVO_H
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_Servo_SetHz(uint16_t * update_rates, uint8_t channels);
|
||||
extern void PIOS_Servo_SetHz(const uint16_t * update_rates, uint8_t banks);
|
||||
extern void PIOS_Servo_Set(uint8_t Servo, uint16_t Position);
|
||||
|
||||
#endif /* PIOS_SERVO_H */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user