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Code Issues Releases Activity

OP-1683 - fixes to PIOS_Servo, added code to prevent overflows

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This commit is contained in:
Alessio Morale 2015-01-24 13:35:41 +01:00
parent ec69941c30
commit 2a10d9d481
1 changed files with 11 additions and 5 deletions
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16
flight/pios/stm32f4xx/pios_servo.c
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@ -48,6 +48,7 @@ static TIM_TypeDef *pios_servo_bank_timer[PIOS_SERVO_BANKS] = { 0 };
// index of bank used for each pin
static uint8_t *pios_servo_pin_bank;
#define PIOS_SERVO_TIMER_CLOCK 1000000
/**
* Initialise Servos
@ -80,7 +81,7 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
pios_servo_pin_bank[j] = bank;
}
}
pios_servo_bank_timer[i] = chan->timer;
pios_servo_bank_timer[bank] = chan->timer;
TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
@ -209,12 +210,12 @@ void PIOS_Servo_SetHz(const uint16_t *speeds, uint8_t banks)
if (timer) {
// Choose the correct prescaler value for the APB the timer is attached
if (timer == TIM1 || timer == TIM8 || timer == TIM9 || timer == TIM10 || timer == TIM11) {
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1;
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / PIOS_SERVO_TIMER_CLOCK) - 1;
} else {
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1;
TIM_TimeBaseStructure.TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / PIOS_SERVO_TIMER_CLOCK) - 1;
}
TIM_TimeBaseStructure.TIM_Period = ((1000000 / speeds[i]) - 1);
TIM_TimeBaseStructure.TIM_Period = ((PIOS_SERVO_TIMER_CLOCK / speeds[i]) - 1);
TIM_TimeBaseInit((TIM_TypeDef *)timer, &TIM_TimeBaseStructure);
}
}
@ -243,7 +244,12 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
val = position;
break;
case PIOS_SERVO_BANK_MODE_SINGLE_PULSE:
val = chan->timer->ARR - position;
// prevent overflows that causes an output to pass from max to no pulses.
if (position < chan->timer->ARR) {
val = chan->timer->ARR - position;
} else {
val = 1;
}
break;
default:
PIOS_Assert(false);