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Code Issues Releases Activity

OP-1683 - Fix compilation for CC (not yet supported)

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This commit is contained in:
Alessio Morale 2015-01-24 00:18:20 +01:00
parent d0629926f0
commit 411416d2a1
3 changed files with 71 additions and 2 deletions
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67
flight/pios/stm32f10x/pios_servo.c
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@ -39,6 +39,16 @@
static const struct pios_servo_cfg *servo_cfg;
// determine if the related timer will work in synchronous (or OneShot/OneShot125) One Pulse mode.
//static uint8_t pios_servo_bank_mode[PIOS_SERVO_BANKS] = { 0 };
// timer associated to each bank
//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;
/**
* Initialise Servos
*/
@ -52,10 +62,41 @@ int32_t PIOS_Servo_Init(const struct pios_servo_cfg *cfg)
/* Store away the requested configuration */
servo_cfg = cfg;
pios_servo_pin_bank = pios_malloc(sizeof(uint8_t) * cfg->num_channels);
uint8_t bank = 0;
/* Configure the channels to be in output compare mode */
for (uint8_t i = 0; i < cfg->num_channels; i++) {
const struct pios_tim_channel *chan = &cfg->channels[i];
const struct pios_tim_channel *chan = &servo_cfg->channels[i];
bool new = true;
/* See if any previous channels use that same timer */
for (uint8_t j = 0; (j < i) && new; j++) {
new &= chan->timer != servo_cfg->channels[j].timer;
}
if (new) {
PIOS_Assert(bank < PIOS_SERVO_BANKS);
for (uint8_t j = i; j < servo_cfg->num_channels; j++) {
if (servo_cfg->channels[j].timer == chan->timer) {
pios_servo_pin_bank[j] = bank;
}
}
//pios_servo_bank_timer[i] = chan->timer;
PIOS_Assert(bank < PIOS_SERVO_BANKS);
for (uint8_t j = i; j < servo_cfg->num_channels; j++) {
if (servo_cfg->channels[j].timer == chan->timer) {
pios_servo_pin_bank[j] = bank;
}
}
/*
TIM_ARRPreloadConfig(chan->timer, ENABLE);
TIM_CtrlPWMOutputs(chan->timer, ENABLE);
TIM_Cmd(chan->timer, DISABLE);
*/
bank++;
}
/* Set up for output compare function */
switch (chan->timer_chan) {
@ -150,4 +191,28 @@ void PIOS_Servo_Set(uint8_t servo, uint16_t position)
}
}
void PIOS_Servo_Update(){
/*
for (uint8_t i = 0; (i < PIOS_SERVO_BANKS); i++) {
const TIM_TypeDef *timer = pios_servo_bank_timer[i];
if (timer) {
TIM_Cmd((TIM_TypeDef *)timer, ENABLE);
}
}
*/
}
void PIOS_Servo_SetBankMode(__attribute__((unused)) uint8_t bank, __attribute__((unused)) uint8_t mode){
}
uint8_t PIOS_Servo_GetPinBank(uint8_t pin)
{
if (pin < servo_cfg->num_channels) {
return pios_servo_pin_bank[pin];
} else {
return 0;
}
}
#endif /* PIOS_INCLUDE_SERVO */

1
flight/targets/boards/coptercontrol/pios_board.h
View File

@ -251,6 +251,7 @@ extern uint32_t pios_com_hkosd_id;
// -------------------------
#define PIOS_SERVO_UPDATE_HZ 50
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
#define PIOS_SERVO_BANKS 6
// --------------------------
// Timer controller settings

5
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -2,7 +2,10 @@
<object name="ActuatorSettings" singleinstance="true" settings="true" category="Control">
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="BankUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,OneShot,OneShot125" defaultvalue="PWM"/>
<field name="BankMode" type="enum" units="" elements="6" options="PWM,OneShot,OneShot125" defaultvalue="PWM"
limits="%0401NE:OneShot:OneShot125,\
%0402NE:OneShot:OneShot125;"
/>
<field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>