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Code Issues Releases Activity

OP-1685 - Try to avoid unneded updates to prevent output glitches

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This commit is contained in:
Alessio Morale 2015-02-22 13:12:00 +01:00
parent 2cc7064552
commit 2a90e86e58
1 changed files with 20 additions and 21 deletions
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41
flight/modules/Actuator/actuator.c
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@ -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(prevBankUpdateFreq, 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)
) {
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 (updateMode && (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);