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Code Issues Releases Activity

OP-924: Ensures that the PPM pulse turns off between PPM frames.

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This commit is contained in:
Brian Webb 2013-04-28 15:16:41 +01:00
parent e642183dee
commit 39c6e81d07
2 changed files with 36 additions and 25 deletions
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6
flight/pios/common/pios_rfm22b.c
View File

@ -2072,9 +2072,9 @@ static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
// See if we have any valid channels.
bool valid_input_detected = false;
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i) {
rfm22b_dev->ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
if((rfm22b_dev->ppm_packet.channels[i - 1] != PIOS_RCVR_INVALID) && (rfm22b_dev->ppm_packet.channels[i - 1] != PIOS_RCVR_TIMEOUT))
for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS; ++i) {
rfm22b_dev->ppm_packet.channels[i] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i + 1);
if((rfm22b_dev->ppm_packet.channels[i] != PIOS_RCVR_INVALID) && (rfm22b_dev->ppm_packet.channels[i] != PIOS_RCVR_TIMEOUT))
valid_input_detected = true;
}

55
flight/pios/stm32f10x/pios_ppm_out.c
View File

@ -49,14 +49,15 @@ struct pios_ppm_out_dev {
enum pios_ppm_out_dev_magic magic;
const struct pios_ppm_out_cfg * cfg;
uint32_t triggering_period;
uint32_t TriggeringPeriod;
uint32_t ChannelSum;
uint8_t NumChannelCounter;
uint16_t ChannelValue[PIOS_PPM_OUT_MAX_CHANNELS];
uint8_t supv_timer;
bool Tracking;
uint8_t SupvTimer;
bool Fresh;
bool Tracking;
bool Enabled;
};
static void PIOS_PPM_Out_Supervisor(uint32_t ppm_id);
@ -118,12 +119,12 @@ int32_t PIOS_PPM_Out_Init(uint32_t *ppm_out_id, const struct pios_ppm_out_cfg *
ppm_dev->cfg = cfg;
// Set up the state variables
ppm_dev->triggering_period = PIOS_PPM_OUT_HIGH_PULSE_US;
ppm_dev->TriggeringPeriod = PIOS_PPM_OUT_HIGH_PULSE_US;
ppm_dev->ChannelSum = 0;
ppm_dev->NumChannelCounter = 0;
// Flush counter variables
for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; i++)
for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; ++i)
ppm_dev->ChannelValue[i] = 1000;
uint32_t tim_id;
@ -166,9 +167,10 @@ int32_t PIOS_PPM_Out_Init(uint32_t *ppm_out_id, const struct pios_ppm_out_cfg *
PIOS_PPM_Out_Enable_Disable(ppm_dev, false);
// Configure the supervisor
ppm_dev->supv_timer = 0;
ppm_dev->SupvTimer = 0;
ppm_dev->Fresh = FALSE;
ppm_dev->Tracking = FALSE;
ppm_dev->Enabled = FALSE;
if (!PIOS_RTC_RegisterTickCallback(PIOS_PPM_Out_Supervisor, (uint32_t)ppm_dev)) {
PIOS_DEBUG_Assert(0);
}
@ -193,8 +195,8 @@ void PIOS_PPM_OUT_Set(uint32_t ppm_out_id, uint8_t servo, uint16_t position)
// Reenable the TIM if it's been turned off.
if (!ppm_dev->Tracking) {
PIOS_PPM_Out_Enable_Disable(ppm_dev, true);
ppm_dev->Tracking = TRUE;
PIOS_PPM_Out_Enable_Disable(ppm_dev, true);
}
// Update the position
@ -207,21 +209,29 @@ static void PIOS_PPM_OUT_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t
if (!PIOS_PPM_Out_validate(ppm_dev))
return;
// Just return if the device is disabled.
if (!ppm_dev->Enabled) {
return;
}
// Turn off the PPM stream if we are no longer receiving update
// Note: This must happen between frames.
if ((ppm_dev->NumChannelCounter == 0) && !ppm_dev->Tracking) {
// Flush counter variables
for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; ++i) {
ppm_dev->ChannelValue[i] = 1000;
}
PIOS_PPM_Out_Enable_Disable(ppm_dev, false);
return;
}
// Finish out the frame if we reached the last channel.
uint32_t pulse_width;
if ((ppm_dev->NumChannelCounter >= PIOS_PPM_OUT_MAX_CHANNELS)) {
pulse_width = PIOS_PPM_OUT_FRAME_PERIOD_US - ppm_dev->ChannelSum;
ppm_dev->NumChannelCounter = 0;
ppm_dev->ChannelSum = 0;
// Have we not received a sample for the supervisor timeout.
if (!ppm_dev->Tracking) {
// Flush counter variables
for (uint8_t i = 0; i < PIOS_PPM_OUT_MAX_CHANNELS; i++)
ppm_dev->ChannelValue[i] = 1000;
PIOS_PPM_Out_Enable_Disable(ppm_dev, false);
}
} else
} else
ppm_dev->ChannelSum += (pulse_width = ppm_dev->ChannelValue[ppm_dev->NumChannelCounter++]);
// Initiate the pulse
@ -233,8 +243,9 @@ static void PIOS_PPM_OUT_tim_edge_cb (uint32_t tim_id, uint32_t context, uint8_t
static void PIOS_PPM_Out_Enable_Disable(struct pios_ppm_out_dev *ppm_dev, bool enable)
{
const struct pios_tim_channel *chan = ppm_dev->cfg->channel;
uint32_t trig = enable ? ppm_dev->triggering_period : 0;
uint32_t trig = enable ? ppm_dev->TriggeringPeriod : 0;
FunctionalState state = enable ? ENABLE : DISABLE;
ppm_dev->Enabled = enable;
switch (chan->timer_chan) {
case TIM_Channel_1:
TIM_ITConfig(chan->timer, TIM_IT_CC1 | TIM_IT_Update, state);
@ -260,18 +271,18 @@ static void PIOS_PPM_Out_Supervisor(uint32_t ppm_out_id) {
if (!PIOS_PPM_Out_validate(ppm_dev))
return;
/*
* RTC runs at 625Hz so divide down the base rate so that this loop runs at 25Hz.
*/
if(++(ppm_dev->supv_timer) < 25) {
// RTC runs at 625Hz so divide down the base rate so that this loop runs at 12.5Hz.
if(++(ppm_dev->SupvTimer) < 50) {
return;
}
ppm_dev->supv_timer = 0;
ppm_dev->SupvTimer = 0;
// Go into failsafe the channel values haven't been refreshed since the last time through.
if (!ppm_dev->Fresh) {
ppm_dev->Tracking = FALSE;
}
// Set Fresh to false to test if channel values are being refreshed.
ppm_dev->Fresh = FALSE;
}