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Code Issues Releases Activity

OP-291 PIOS/Servo: Fix a few interrupt mappins for OP

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Also keep the priority of actuator at idle+4, dropping it down slipped through

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2580 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-24 07:52:20 +00:00 committed by peabody124
parent 00a3e82c70
commit 3b0be12b67
2 changed files with 4 additions and 4 deletions
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2
flight/Modules/Actuator/actuator.c
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@ -45,7 +45,7 @@
// Private constants
#define MAX_QUEUE_SIZE 2
#define STACK_SIZE configMINIMAL_STACK_SIZE+200
#define TASK_PRIORITY (tskIDLE_PRIORITY+0)
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define FAILSAFE_TIMEOUT_MS 100
#define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM

6
flight/OpenPilot/System/pios_board.c
View File

@ -775,7 +775,7 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
},
.remap = GPIO_PartialRemap_TIM3,
.irq = {
.handler = TIM2_IRQHandler,
.handler = TIM1_CC_IRQHandler,
.init = {
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
@ -785,11 +785,11 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
.channels = pios_pwm_channels,
.num_channels = NELEMENTS(pios_pwm_channels),
};
void TIM1_CC_IRQHandler()
void PIOS_TIM1_CC_irq_handler()
{
PIOS_PWM_irq_handler(TIM1);
}
void TIM3_IRQHandler()
void PIOS_TIM3_irq_handler()
{
PIOS_PWM_irq_handler(TIM3);
}